During their forty years of wandering in the desert, the Israelites experienced constant, direct care from God. He provided for every physical necessity, ensuring they lacked absolutely nothing. The purpose behind this complete physical support was to free their minds and energy, allowing them to focus entirely on serving Him [רלב״ג].
The primary approach among commentators is that this divine care covered their needs so thoroughly that even their basic belongings were preserved. This miraculous provision extended to their clothing, which never wore out or rotted despite the long passage of time.
As they traveled great distances, they also experienced a unique protection regarding their feet. One perspective explains that walking constantly naturally causes a person's feet to swell like rising dough. Yet, miraculously, the feet of the Israelites never swelled from the effort [מצודת דוד, מצודת ציון, ביאור שטיינזלץ]. Another approach suggests this protection relates to their footwear rather than their actual feet. According to this view, the Israelites never had to walk barefoot because their shoes remained perfectly intact, defying the natural wear and tear of such a long, continuous journey [רס״ג, רלב״ג].