There was one time, in this pub when even walking on the upper floor with my shoes on, the carpet felt incredibly soft.
I only saw maybe a few children ever, with shoes off, in this section of this pub, but if anyone did go at least shoeless on this upper level, at that time, the feeling would have been amazing.

I wondering if this is a sensory thing like being able to feel things on bare skin just feels calming

It feels really great having your bare feet free from the confines of shoes and socks.