Oh and someone on here recommended a foam roller for stretching.....So Amazing.
Im a foam roller KING! lol.. I use it literally every day to warm up and prep my body... I don't see how it would help the joints though.. unless the presumed joint pain is actually muscle tightness/strain?
Something I do is PREP my joints for work. I do this with motion with only body weight/no weight(+gravity)... Ball and socket joints(hip/shoulder), i do movements that rotate the ball and i also do swings... for my knees, i start off on the ground, legs at a 90 deg angle and simply straighten (plantar flex at the top if you want to kill 2 birds with one stone) and release slowly with an isometric contraction.. do the same with various thigh/floor angle relationships..