No pain, no gain.
No pain, no gain.
https://www.lesswrong.com/posts/bx3gkHJehRCYZAF3r/pain-is-no...
It's actually fascinating how an ancient proverb could line up with modern science so perfectly.
But yes, if you never train close to failure you will not grow, not past beginner gains, unless you take steroids.
There's not a discernible distinction for me. Which is why I always hate hearing shit like "It should feel uncomfortable but not painful." Like, no, it's FUCKING PAINFUL! It HURTS!
You absolutely can get significant improvements without (much) pain. DOMS during the initial stages is going to be the most uncomfortable part. Once you're past it, you don't need to push yourself to a breaking point, just to the point of mild exhaustion.
This will provide you enough resistance to gain muscle mass and improve the bone density to healthy levels.
Dynomight has a good blog post about this[0], but applied to running rather than resistance training.
[0] https://dynomight.net/2021/01/25/how-to-run-without-all-the-...
Also, I highly recommend getting a physiotherapy-educated trainer for at least several sessions. They know _exactly_ how to make people hurt after exercises :)