I practiced muay thai for a year and my teacher made it clear we would train all along bare feet on the hard ground.
Of course I had feet injuries after repeatedly kicking the mitts. At first, I thought I would hold on and eventually my feet would get used to it.
But it didn't get better and honestly, this is one of the reasons why I didn't follow up.
Would you recommend training on mats or is training on the hard ground really a thing ?