Kittenkat: My solution to the what's-underfoot problem was a pair of Terra Plana Neos - or you might prefer the Evos if your feet are a bit narrower. Really flexible, 4 mm sole, no heel.
I've run barefoot, but only on a sports field after doing a circuit to check for glass, dog poop etc. With the Neos, I can concentrate on everything else without worrying whether I've not noticed something small and nasty to step in (you'll still want to miss the cowpats, large stones etc. of course). I was also able to put a pair of Stabilicers on over them and run on the icy pavements over the Christmas perios, which was useful.
