A lot of these responses are along the lines of "this one time I did A, B, and C, and the outcome was D, therefore B = D!" Unfortunately just because you had an experience one time does not make it science. This is the same type of thinking that started the static stretching fad. A bunch of people who felt like it helped them and came to the conclusion that they must be on to something. That is called a fad, not science.
Your body stiffens up when you run on softer surfaces and relaxes on harder surfaces. There are a few good articles out there on that. The impact point is not what causes injuries! I highly recommend looking at some of Jay Dicharry's research on injuries. It has much more to do with the ground contact time combined with force. A lot of people here are confusing force with pressure. They are two different things but easy to get confused because pressure is easier to feel and notice than force. Pressure can be the cause of some injuries (stone bruise), but for the most part force is the usual culprit.
If you take an athlete and have them run 6 min pace on grass and 6 minute pace on road, the force that is going back into the athlete from the ground will be the same on both surfaces. If the force going back into the athlete was not the same then the athlete would not be running the same speed on both surfaces.
With that in mind here is a common scenario:
Runner A runs on soft surfaces. Because the surfaces are softer they don't run as fast as they would with the same effort on a hard surface. Because they are running slower the amount of force that goes into their body is lower. They then attribute their lack of injuries to their running surface. But really the lack of injuries come from the fact that they are running slower and therefore less force in going back into their body than it would be running at faster speeds.