Of course I would recommend it. As long as it doesn't get too cold or breezy, you should definitely go out and about barefoot in public.

If you are comfortable being barefoot in public, then you should do it for as long as you are happy to do this. I think a walk on fallen autumn leaves would be a great experience.

inside or outside ?
I'm usually barefoot in the house and during the spring & summer barefoot a lot in the garden (unless I'm working in the garden and then it's always advisable to wear something on your feet)

Maybe a little of both I've actually walked outside barefoot after a rain and omg it was cold lol it wasn't bad

Start with smooth tarmac. Public parks are good, especially if you can walk on the grass if you feel the path is too hard to start with.

But really anywhere will do. Just stop when it gets too uncomfortable and put on some flats or sandals. Then next time push just a little further. Eventually you can leave the shoes behind altogether.