Supposedly asphalt is easier on the joints vs. concrete sidewalks for walking or jogging. Not sure how much softer the asphalt is, tbh. But you won't see me walking the streets when vehicles are swerving around the neighborhood, nope!
I see people walking in the street who won't get out of the way, because they have the "right of way". Remember the old commercials from the '60s where they were talking about, "Dead right!"?
