Chiming in with my own stride improvements - 1. Slow jogs with the only goal being getting my footstrike under the hips. This fixed the rolling/lurching I had

Chiming in with my own stride improvements - 1. Slow jogs with the only goal being getting my footstrike under the hips. This fixed the rolling/lurching I had developed in adolescence. 2. Runner's supplements. This did a lot to reduce pain and stiffness. Magnesium in particular really made a difference. 3. Strength and mobility training. Yoga or calisthenics both work for this: the main limitation in both walking and running postures is in being able to swing the hips, shoulders and knees fluidly.