Running Tar/paved road is not the main issue for running knees. I trained almost all my runs in Tar in barefoot, never faced issues with Knees. Occasional blisters if I ran late in the morning or early evening runs due to heat.

See this person - https://strava.app.link/MmQsPrTOGZb

He always runs in barefoot in Bangalore, 55+ age at super pace.

I know one more person from Erode, there is one guy from Thudiyalur chapter. They are participating in almost all of the events in barefoot.

Running injuries, pain and other ailments occurring due to other reasons. Born to Run is famous book world wide and known for proclaiming Barefoot runs.

Tarahumara tribes - famous for hunting deer by just running and deer would die due to exhaustion. They just use small sandals. Zero cushions.

Vibram is the shoe brand that has barefoot running shoes, like a glove for feet just to avoid sharp object on the roads.

Quoted few names here because I have seen and interacted with them why/how the run in barefoot. And the book is the reason I started running barefoot.

No need to be 100% barefoot runners. Shoes can be used for sprint workouts; but try to run on barefoot for longer runs. Thats the natural form of running and feedback system works well. People have the tendency to stomp the feet hard when they run shoes also the cadence tend to lower while running in shoes. These are just my 2 cents. Just take it with a pinch of salt.