Humans are bi-pedal animals who walk extensively over long distances. However our feet are soft and not well suited to the task. However dogs, monkeys, and other animals have paws that serve as shoes to protect the feet.
No other mammal has such unprotected - but we are known for walking the farthest distances / nomadic behavior. Is this a joke?
As others have said, you wear shoes, keeping your feet soft. There was a time in my life I walked everywhere, and did it barefoot. My feet became pretty well calloused and protected, to the point I could walk on gravel no problem. Even hot pavement wasn't too bad.