You can get most of the benefits of walking barefoot without the hookworm by wearing a good pair of barefoot shoes. I personally love my Xero Prios. If you want the full experience at the expense of looking like a freak, you can get those Vibram Five Fingers toe shoes.
Why would that give you the benefits of walking barefoot? If the point is to pick up bacteria, shoes are shoes. It doesn't matter if the toes are separated or not.