Being barefoot is vulnerable, particularly in a culture that doesn't require people to remove shoes when they enter a house.
Think about the intimacy and control involved with stripping someone of their shoes and socks. It's the last bit of protection.
Cold Floors
Rough Terrain
Dry, cracked, or bleeding feet.
A fun whump aesthetic: a character being helped out of heavy plate armor
Is it done fast, blood-slick fingers pulling at straps and hastily undoing buckles, the pieces thrown carelessly aside to be picked up later, time is running out and they need to get all that metal out of the way to treat the wound underneath?
Or slowly, gently, telling the character that shh, they can rest now, they've done their part and done it well, others will take it from here?
Harshly, on a captured enemy knight, forcibly stripping them of first their weapons and then their armor as they're fighting back tooth and nail, to put them in chains afterwards, vulnerable without their armor in the light, sweat-drenched shirt and arming jacket and breeches they wear underneath?