The body will adapt to almost anything as long as proper progression is followed. If you grew up playing basketball on playgrounds, and played street hockey, and played tackle football with your middle school friends in the park with no pads, and ran track on asphalt tracks, in spikes.......you won't have a problem running anywhere as long as you don't jack up your volume in an irresponsible way.
However, if you spent your life on the couch playing video games, and then were on the track team because it was the only team that didn't make cuts, then you will have trouble on just about every surface.
If you spent your life doing all soft surface running, then make sure it is a gradual shift to harder surfaces.....and you will be fine.
If you are injured on hard surfaces, before you blame the surface, look at your lifestyle prior to running, and look at your training program.
There is no need to avoid any surface or train exclusively on any surface.
Kids get shin splints on rubber tracks, and while playing soccer on grass. Not because of the surface, because the intensity of training wasn't progressive enough.