Awesome stories about you and your mom, Joshua! I have not yet run any marathons, you guys rock!
Since you and your mom are already running in the "minimalist" shoes, I imagine you would find the transition to completely barefoot to be really easy. Just a matter of getting the soles of your feet toughened up, which you can do in a matter of weeks.
I really do advocate everyone giving it a try. Feeling the actual ground on your feet is neat, it just makes you more in tune with the land you're running on. And I like that my feet are tough enough to go anywhere. I think you actually do even fine tune your running style, since in the minimalist shoes you can still maybe "get away with" not having to completely adapt to your running surface. And you won't have to worry about your shoes wearing out, barefoot is free for the rest of your lives.
I hear people say the main reason they don't want to go completely barefoot is that they are concerned about hazards. But I've gone thousands of miles and have NEVER had a problem. My worst "hazard" or injury after 4 years was a tiny splinter in a toe which I promptly removed with some tweezers, and problem solved. I get splinters in my hands occasionally, too, but that hasn't made me go around wearing gloves everywhere!