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I've ran regularly for two decades now and my joints are just fine (aside from a reconstructed ankle, but that's unrelated, dislocated during military stuff).I understand the desire to get that cardio in and burn off extra calories. I've disliked running for a long, long time now. I don't know anyone who runs regularly and hasn't had some kind of leg/hip/joint problem. I stick to cycling for my cardio, whether on the stationary bike at the gym or riding a trail on a real bike. I've never run into any strains/pains/injuries doing that as my cardio.
In my experience people who have joint problem from running either are clearly overweight or have poor technique. The former is self explanatory and they often complain about their joints even without running. The later is a matter to learn to run properly (it's largely about how you land on the ground) and it's just a matter to learn to do it properly. The body had to adapt too, during the process shin split are common, so you have to stretch them properly and don't overdo training so your tendons and bones get to the required density without getting micro fractures; its a temporary transition mind you, once past it shin splits are a thing of the past. Running is pretty awesome cardio given how time efficient it is, little equipment it requires, how much of the body is involved and the real world application it entails.