Humans evolved to walk barefoot, so that’s fine. Very smart engineers designed human shoes (certain styles, at least) to be ergonomic and comfortable when not worn out, so those are fine as well.
Badly worn shoes don’t fit into either of the categories above. Also, the parts of your shoes that wear out the most are the parts that receive the most distress, which means you need the most support in those places, which means worn-out shoes give you little-to-no support in the places where you need the most support.
Ergo, walking barefoot or in newer, well-designed shoes is good, and walking in worn-out and/or poorly-designed shoes is bad.
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