Short answer: yes, you can drive barefoot in WA. There’s no law requiring shoes; the rules simply say you must maintain proper control of the vehicle.
If your footwear (or lack of it) causes sloppy pedal control, you can still be pinged for driving without due care. Thongs and stilettos can be worse than bare feet; keep a sensible pair in the footwell for good measure. After a bingle, an insurer might ask whether your choice of footwear contributed, so be prepared to explain your life choices. Barefoot is legal; competent is mandatory.
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