I learned the hard way, via busted and bleeding knuckles, that using the correct tool for the job was a key to keeping the pain down.
I learned about breaker bars, and clever ways to get leverage. But, you see, I had to learn the hard way.
Strong knees? Strong legs, yes, for carrying and lifting.
A stool, a bench, a floor pad, and a 'roll under the car thingie' all are included in the proper tool for the job, just as a board or brick for blocking the front tires is a required tool for jacking up the car when you change a flat to a rear tire. As is a flasher for doing it at night, so you don't die from being hit.