I have RA, which has basically destroyed one of my toes. I find exercises that bend my toes very painful, like lunges, so I modify and do step up instead.
Additionally, my joint pain improved the more I exercised. I guess it helps strengthen your muscles and ligaments which in turn reduce the stress on the joints. But I’m also on a biologic.
I ride my bike more instead of walking. Swimming is great exercise too. Was never a runner so can’t speak to it.