Most people haven't learned to transfer their work out of their joints and properly into their muscles effectively. After my 2nd major shoulder injury that resulted in surgery, I took physical therapy seriously and learned SO much. Aside from all of the gadgets, a lot can be said about learning how your body operated as a unit. Much like tree health, what you do to your arm doesn't just affect that arm. All of the muscles and joints and nerves are connected and work as a team to accomplish work. As I began to take that concept more seriously, it changed how I moved in amd out of the tree. I crafted workout regiments that were less about brute strength and more about health, which had the byproduct of making me stronger AND more efficient. It also taught me to slow down and work on being more efficient instead of trying to be fast, which paid out dividends. As a roundabout way of addressing your concerns, I think it is less about the climbing hitch or device or whatever, and more about your own physicality and willingness to learn, adapt, and grow. As others have mentioned, there are a myriad of things in this line of work that beat you up. Climbing doesn't hurt me, humping brush does. All of my injuries have been a result of being branch manager for a day.
Climb high, brother!