Anyone can run barefoot (except maybe if you are diabetic, as you has less feeling on the feet in this case). But be very careful, train your form, and don't do TMTS, that's like being a beginner again.

Good quality asphalt or concrete are perfect surface. I'm personally fond of the very smooth asphalt of the sidewalk in my neighborhood.

A pair of handmade huaraches or cheap minimalist shoes can be a good complement.

Doing a C25K, and seeing https://www.youtube.com/watch?v=zSIDRHUWlVo every month is a good plan. You can cross train (like bike) while transitioning. It will take 3 to 12 months to be back to your actual level.