That's one way to put it
For me it took years and years of (passive) transitioning.
As a teen/tween I used to walk in army boots and had very weak ankles. I used pretty average indoor shoes for TT and I remember my
knees were always flaring after a long or intensive session. Also I rolled my ankle probably 2-3 times per year.
I started running in my late twenties in "neutral" running shoes. This was really, really hard on knees and ankles but probably mostly on pure grit I developed some resistance over the years. I remember well how my ankles were completely shot after running on the Zandvoort circuit. That same year I sprained my ankle hard again, this time enough to have to use crutches for a couple of weeks.
My breakthrough started when I got low-drop shoes at 32. I clearly remember the transition was grueling but at the same time I built up ankle strength like (literally) never before. I think it took me a full year to become comfortable running in those shoes. After that year, I don't think I have ever rolled or sprained my ankle again. My knees were not an issue, if anything they had it easier with the low-drop shoes than they had it using 10-11mm drop Asics.
Most of that was due to not landing hard on my heels anymore, that's just not workable in shoes with little cushioning.
A couple years in I also started using zero drop and/or minimalist footwear outside of sports. I also dabbled in Five Fingers and Merrell Vapor Gloves, even made my own sandals. But in the end I think the sweet spot for me is light cushioning like what I get in the Xeros, at least for daily use, and maybe a little bit more for sports.