We can't go back to the ancient mind unless we are in some sort of altered state. And I'm not sure even then. We are just too far removed. Too imbued with scientific thinking.
To the extent we even slow down for a moment and pay even a modicum of attention, we are still trying to orient a self in relation to this "other" that we call a tree, a rock, a building, or a dog. We project a meaning and an relationship onto nature. And we try to understand and make use of everything as it relates to us.
I think Barfield is glimpsing at something different: a participation in nature. Something we do not analyze or filter through us--but the very connection and meaning is obtained through nature in a participatory process. In interfacing with nature, we become. And what we hold hands with in nature becomes what we are.