I'll preface this by saying that as a nurse that only works 13 twelves a month, I hike about four days a week.
I haven't tried going completely barefoot other than around my property. I do have Merrell Barefoots that I use on about 25% of my hikes. I must say that it is a completely different experience. Sharp stones do hurt and you do have to mind where you place each step to the point that you take in less of the visuals, but you feel more agile once you find your groove. I kind of enter a zone where I'll see a deer trail in front of me and I'll map out every step at once and just fly; up rocks, over and under logs, etc. It is a rush. I try to go as light as possible when using them and stay on the less used backwoods trails (as opposed to the overused ones that have eroded down to just a bunch of fist sized rocks strewn down a long gully). My feet have gotten stronger though. The one drawback to the Merrells is that the rubber is on the hard side for protection but not very good grip.
That said, you do feel a whole different set of muscles that get sore the next day. That's when I'll break out my standby's which currently are Keen Pyrenees. IMO a terrific shoe that gives great protection and support but still gives you flexibility and control. The key I believe is not to have too much shoe between your heel and the ground. Some hikers make you a good 2" taller. I feel no hotspots from day one and it has a very laterally generous toebox that prevents toejam on descents. This is the shoe that I'll use with a heavier pack when I know I have to descend steep trails.
The shoe that I find would be an ideal intro into minimalist hiking, is a perfect balance (and my favorite woods shoe) between my hikers and the Merrell Barefoots is the 5 Ten Guide Tennie. What an awesome shoe. It is a low top shoe but laces from just behind the toes to the top which gives a very custmizable fit. The sole is slightly thicker than the Barefoots, about half inch at the heel with a slight taper toward the front. The magic lies in the soft durometer of the sole. Even though the tread doesn't look aggressive, just a pattern of 1/3" discs about 2mm tall but with these on, I can climb anything. These shoes give you a great trail feel and make you use your foot muscles but give great protection.