Not everyone’s feet are created equal and there is also the question of “nature versus nuture”, so you have to learn about your own feet.
Start on forgiving surfaces (grass, sand, soft new-tilled earth, etc.) and just see how it feels. Note: the local high school track may seem springy and forgiving, but I’ve noticed that material is more likely to rub blisters.
Remember to keep your feet under your center of gravity (your pelvis) and land on the forefoot. But keep the forward momentum. Don’t bounce!
Notice how it feels to spread toes ... a little more stable?
When you get the forefoot technique down, you can try harder smooth surfaces like concrete sidewalks.
After that, try smooth asphalt.
At any point, you may stop and decide that’s enough.
Or you may want to continue, in which case, read on ...
Note on blisters
Blisters happen, even for me. Don't lance blisters unless they are large and uncomfortable -- in which case, lay off from the barefoot stuff for a while and let them heal. That's how skin gets tougher.
Keep body in alignment, with a slight forward angle to the ground.
Think about how it feels to spring forward from the pre-load stretch.
Flatten feet out on uncertain ground, especially in tall grass where there may be gopher holes hiding.