There may be some benefits to running barefoot or with minimalist
shoes on some surfaces
. Not sure how well this transfers to playing tennis on a hard, unforgiving surface. Quick stops and sudden directional changes/pivoting on a hard surface is probably the biggest problem.
Before the advent of shoes, humans walked and ran in the sand and on soft, medium and, sometimes, hard ground. The foot was engineered for this. Shoes and sandals were developed for comfort, particularly when dealing with hostile surfaces. While the foot may derive some support from the ground, one of the functions of shoes is to provide comfort
Some pros & cons of barefoot running and minimalist shoes: