A big part of it is nerve/brain response, in my own personal experience, though sure, a different walking technique makes a difference too.
I started wearing mostly thin soled shoes a few years ago: simple leather moccasins, $5 Chinese canvas shoes, Vibram Five Fingers. (I don’t typically walk around outside barefoot.)
When I first started, if I walked barefoot, stepping on a tiny pebble was painful. Wearing thin-soled shoes itself let me very dramatically feel the ground in a way I didn’t when wearing stiff-bottomoed shoes. Now, a few years later, the effect is much reduced, even though the skin on the bottom of my foot is not noticeably more callused than before. I can notice how the ground feels if I pay careful conscious attention to it, but it’s not constantly in my mind as I walk around.
I think the walking barefoot -> calluses idea is exaggerated in popular imagination. I have a friend who does significant amounts of barefoot trail running, and frequently run barefoot on pavement. His feet are also not obviously more callused than anyone else’s.