Might I offer a suggestion in the middle between Flip Flops, and honest Hiking boots? I have a pair of Keen sandals. They have a robust sole (good for walking on rocks and such), a Solid rubber toe cap (good for avoiding stubbed toes), and are pretty open (for that bare feet feel)
I have a cheap pair of Hi-Tec hiking boots, a good pair of RedWing work boots with steel toes, and a few average types of athletic shoes. I am a firm believer in proper footware for any given task. Hiking at Red River Gorge in steel toed work boots isn't comfortable.