No, earthworms cannot undo the damage from soil compression caused by humans. There are ancient trails that have been found by archaeologists that haven't been used in thousands of years and yet are still compressed. Human foot traffic is incredibly destructive.
The rule for hiking is that you hike and camp on durable surfaces only. Meadows are extremely fragile. There are visible rocks in this photo right behind this person, which they could be walking on. This is a selfish thing to do.