My two year old son hates sand on his skin. It serves its purpose. In the water and on the beach he can run without complaining (until the sand gets to his feet and our beach towel, but what can you do. He just has to grow up a bit when he realizes that beach = sand). As for shoes, there are no problems with wearing them on the beach. I can remove the insoles and turn them completely inside out as soon as we get home and yes there are grains that I have to remove but they are never enough to bother my son.
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