No, and it is illegal.....
You should always be wearing proper footwear (no barefoot, no high heels etc.). You need to have full control over your feet and your vehicle. If you are involved in an accident and you were driving barefoot, your insurance will not pay because it'll be your fault, even if it is just a partial fault and you might not have even caused the accident. If you cause an accident by driving barefoot, it'll be your complete fault by negligence. Your insurance will not pay and the other party might claim damages from you and you will be taken to court.
That's the way it is over here, I don't know what it is like in England.
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