It's been a couple years, now, and honestly I wish I'd made the change sooner. I haven't lost any functional strength, and my recovery is a lot smoother. Haven't had any injury since, either.
I now rotate between high rep (sets of 20 rep max) and medium weight weeks (sets of 8-12 reps). My joints haven’t ached in a while and I’ve become much less prone to random muscle tweaks. Mike Isreatel has an excellent intro to high rep training [0]. It produces pumps and mind-muscle connection like nothing else!
I actually went too far into the high rep/volume training direction for several months, but realized I needed to reincorporate medium weight lifts when I started losing a bit of grip strength. I am now super content with my current rotation cycle!
The only change I've made is two train only twice a week, rather than three or four times. Thinking of doing the split in Radically Simple Muscle, though, where it is 2 heavy compound lift days per week and a 3rd bodybuilding/machine day.