Oh, dear! So going on that hike was risky from the start. I'm happy you two survived it. You both are determined fellas who must see the hills at all costs, heh?!
The knees and shoulders are technical, so I hope it's nothing permanent that cannot improve with the right specific exercises and stretches 🤞
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Exercise and strength training the muscles around the knees has helped a great deal but there is always a strange pain there still, so I think I'll have further issues down the road unfortunately.