What was it like to do PE in bare feet?

Growing up in the US, going barefoot in PE was unheard of. We always wore sneakers (trainers) and socks. I remember a few gymnastic lessons in elementary school where we took our shoes off, but socks stayed on. After doing some research, I found out that it’s common in the UK to do PE in bare feet. Did you remove your footwear while getting changed, or were you told to? After reading some people’s experiences, I feel like I missed out on something.