Yes going barefoot in the house is good for your feet.
Humans are not really meant to wear shoes but we do need to wear shoes to protect our feet when needed such as in the cold weather, walking in public etc.
But at home you should take your shoes off and allow your feet to get some air and a break from the shoes.
Wearing shoes for too long can cause your feet to start to hurt and when your feet are hurting from wearing the shoes too long then you should allow your feet to get some air and walk around barefoot.
I always walk around barefoot in my house because it feels much better.
In the cold winter when my hardwood floors are cold I might wear a pair of slippers just until I stop walking around on the floor.
Then I take the slippers off.
Walking around barefoot outside in your yard is also good as long as there's nothing on the ground that could cause you injury.
I like sitting out on my back patio in the summer with a pair of shorts and shirt and no shoes on.
It feels so good to be barefoot.