Human joints in general are delicate structures. Part of the reason is because we were not entirely designed to walk upright, but part of the reason is because we were not designed to live as long as we do or to be as heavy as many of us are. You can argue that our bodies were designed to live around 40 years - long enough to breed asap and raise some little ones like the other great apes.
While muscles respond well to stress, joints do not. The worst thing you can do to your hips and knees is to be overweight. That is why, in the UK and many other European nations, if you are overweight they will leave you a cripple and tell you it's your own fault. Government medicine will buy you a 12-Euro cane. In Euroland today you see people with canes, walkers, and wheelchairs who would be playing tennis and hiking in the US.
How Overweight Causes Knee Problems
Study links obesity to rise in knee dislocations
Similar issues apply to hips and lower back. Nothing but trouble. Shoulders can wear out too, but that's a separate topic with different causes.