i did real no shoe barefoot running and pushed most people to try that. it did have an effect; no more twisted ankles. i got them quite often and never after 3 months of no shoes. there was a kid who eventually played d1 ball who joined because he had 'bad ankles' and still credits me for solving that.
you can get all the benefits of barefoot running by running or jogging once a week on a beach or soft grass soccer field. i think it's building up muscles in the leg to better balance you. no changes occur in the actual foot.