You realize this is all just yet another form of exercise. If having issues with joints, there are endless amounts of programs and workouts in the gyms, with free weights, machines, body weight, bands etc. to cover those.
But the problem often is (and it seems its valid for you too) that people are extremely focused on the sport(s) of their preference, but completely ignore overall health, ie by working out muscles and stabilizing system not primarily used in their sports. Ie not many runners ever hit the free weights or machines so their upper body looks like from Auschwitz, and it would benefit them massively long term - joints last longer, overall connection with the body is stronger. Not many runners do dedicated exercises to make their knees and ankles stronger. And so on.
I mean tendons and ligaments and rest of connective tissues also require focus when training, I'd say even more since it takes significantly longer to build any stamina/strength into it (so usually when starting working out muscles develop fast with connective tissues lagging behind and then folks end up with injuries since you need it all working together perfectly under serious load).
Walking back is severely impractical in real life and in outdoors outright dangerous if alone, so there may be smarter ways to reach same result. But it requires a bit of thinking, dedication and discipline. Just like rest of our lives.