One thing I’m not seeing or maybe missed:
The sore/tired feeling in your muscles comes from a build up of lactic acid. Consistent cardio training not only reduces the rate of lactic acid buildup (through VO2 max gains – already mentioned), but hepatic efficiency at metabolizing lactic acid ALSO improves – this allowing more exertion with the same buildup or reducing buildup for a given exertion level.
There are also physical changes – runners will find more efficient strides: look at how an olympians legs move vs your own, watch how their upper body moves (it doesn’t much).
Intercostal muscles and the diaphragm can get stronger allowing for a larger chest cavity expansion and more aggressive exhale.
Some endurance athletes are even able to tap into some portions of the mammalian dive reflex – the spleen can contract and pump excess red blood cells into the bloodstream allowing for better gas transport.
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