You never want current to “pass through you”. Being “grounded” or “floating” does not change the danger, it just changes the possible current path.
Insulated shoes or not, sticking a 9v battery on your tongue creates a circuit across your tongue between the terminals, it tingles or is painful. Standing on concrete barefoot or with insulated shoes doesn’t change the current path. The battery is a floating reference, current can only flow between its terminals, unless the negative terminal is tied to ground.
Insulated shoes. Touching hot only, no current flows. Touch neutral with another part of the body and current flows and you get shocked.
If feet are not insulated, touching hot will shock you as current flows through you to ground.
Both are “complete” circuits.
I don’t want to delve any further into floating and bonded or isolated systems, as they are beyond the scope of a simple conversation and the bottom line here is general safety.