Mobility plus strength equals no joint pain.
I dramatically overhauled my leg training about 5 years ago, incorporating lots of old school Poliquin style training (now popularized by Ben Patrick aka knees over toes guy). Instead of trying to be as strong as possible, the goal became unlocking more range of motion with the same weight/load, and becoming legitimately flexible.
Most dudes have a flat-out sad amount of flexibility, and spend all their time strength training with very limited ranges of motion.
Within a few months the aches in my knees, hips, feet after long hikes/hunts was gone entirely and didn't come back until this past year when I had to take 3 months off due to a fractured knee cap snowmobiling.
Incorporating the same stuff as rehab and almost back to 100%...it really does work.
Skip the pills and injections, toxic to your body long term, eats cartilage alive, and doesnt address the underlying issue.
Get strong and get flexible