You can strengthen your joints, and you can march without boots. I hike a heavy pack up hills, and when I do I wear light shoes little different than water shoes or wrestling shoes. When I do wear boots I feel my legs (and especially knees) working much harder, but I've never once had an ankle issue from wearing light footwear.
You've never twisted your ankle carrying a 40lb rucksack?
60+ up rocky hills, and nope.
Man, impressive, I jumped a 4 foot gap and landed on a tree root my foot slipped and twisted my ankle. That was like 2 months ago and I still haven't healed. Since then I only hike with boots.
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