For me the main problem was concrete, which has less give than blacktop. I seem to handle concrete better since including more foods in my diet that reportedly strengthen connective tissues, some of which are not considered Paleo--marrow, bone broths (it's possible to make raw versions if one wishes), small fish bones, kosher gelatin, raw fermented cod liver oil, raw butter oil, and pastured cultured butter (not raw), and occasionally some supplements like Dr. Ron's Joint Support Forumla when I haven't been eating as much of these foods as usual. My dental health also improved.
I have Merrell, Vivo Barefoot and Soft Star RunAmoc with 5mm studded Trail sole. The Vivo Barefoots are my favorite to wear of any shoe I've tried, but they are not very durable. The Merrell's look more durable and are less expensive, so I'm currently wearing those as my work-day shoe. The RunAmoc's were disappointing. I bought them for when I need traction and because they were deeply discounted, but my problematic left foot tends to flop and become painful when wearing them unless I walk or run on soft surfaces like grass or soft dirt, where it does have better traction than the Vivo Barefoots. I think the problem is the sole, which is stiffer than the Vivo Barefoot sole, which is slippery enough that I've had some falls on wet mud and ice. I'll bet the 2mm soles are better. I've added insole padding to see if that helps. The Merrell sole is also stiff, but the shoe has more cushioning, so that's probably why that shoe doesn't give me the problem. Unfortunately, the Merrell's are not as enjoyable to wear as the Vivo Barefoots, so I still haven't tried my ideal shoe yet.
I've received negative feedback once or twice on the appearance of the Vivo Barefoot (someone told me they looked like clown-shoes because of the wide toe area, which they somewhat do, but it doesn't bother me because I like the wide toe box, and I've been allowed to wear them at work--I've also seen people make the "clown shoe" remark about Vibram Five Fingers shoes) and Softstar shoes (toes poke up rather obviously in the supersoft top). Merrell shoes look more like conventional shoes, so I haven't gotten any negative remarks, but the downside is they are less like true barefoot-style shoes.