The focus is usually on the increased impact during running, but arguably when averaged over the time it is actually somewhat equivalent to walking, the 'air time' of each joint means you are effectively under no load with some form of decompression.

It is effectively a higher load with a lower duty cycle. versus walking with a lower load at about 50% duty cycle.

Joint 'damage' is a misnomer. Joint surfaces are under load/impact and friction while running, that is just biomechanics.

Other mechanical parts like bearings have a load capacity and lifetime. It is not a stretch to model the same for articular surfaces on your hips, knees, ankles.