Of course there are benefits!
The soles of human feet are rich in blood vessels and acupuncture points, and each acupoint corresponds to different organs of the human body. This is the theoretical basis of reflexology in medicine.
Walking barefoot on cobblestones is equivalent to a foot massage, and through direct contact with the earth, harmful electrostatic charges accumulated in the human body can also be derived. In layman's terms, it is grounding. . .
I hope my answer is useful to you. The waiter of "Xilaikang" wishes you a happy life and good health