I have just tried running barefoot following 15 years or so of barely running because I have been in so much pain with shin splints and achilles tendon injuries.
I am pain free when I run barefoot. The physics makes perfect sense to me. I wish that more people looked at the science.
I will be very happy indeed if I can go back to running, having once been a promising fell-runner ticking off elite distances as if they were a stroll in the park. I am astounded at how good the foot is at dealing with the forces of impact barefoot. It works how it was designed to work. If you think this is a question of form then you are being over-tolerant of people who support incorrect science. Barefoot is how we were made, barefoot is how we should go. No contest. Problems increase when we increase distance and footfalls. No puzzling contradictions there.