What type of surface were human feet originally adapted to

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Human feet were originally adapted for navigating arboreal environments, resembling those of apes, which facilitated life in trees. As humans evolved to walk upright, significant physiological changes occurred, including the shortening of toes and the migration of the big toe from an opposable position to a more forward-facing alignment, enhancing balance. This adaptation reflects the transition from tree-dwelling to bipedal locomotion. The discussion also touches on whether different environments have led to further variations in foot structure among human populations, although specific examples are not detailed.
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What type of surface were human feet originally adapted to navigate (plain/savannah, desert, ect.) and have there been any significant physiological changes to the foot throughout human evolution or between humans inhabiting different environments?

Thank you.
 
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As far as I know, they were originally more like those of an ape, designed for life in trees. As we began walking upright, the toes shortened and the big one migrated from its opposable position to the front for balance.
 

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