maybe I'm slow wrote:
I would've thought running on the ground is harder simply because you have to push the ground to move forward while on a treadmill you just have to turn your legs over to keep up. When your foot lands on a moving treadmill your leg could even rest somewhat because it only has to support your weight and doesn't need to push at all.
You aren't thinking through this deeply enough.
As soon as your forward foot hits the treadmill deck (your trailing leg is still in the air) and plants, at that instant, your leg tenses, becomes rigid, and your entire center of mass slides backwards some small distance. After than instant, your forward foot is still planted on the mill, your leg slightly relaxes to handle balancing the impulse of your mass on the leg and the pendulum swing motion of the leg going underneath the body. As the forward leg passes under the body and starts getting further away, the leg again tenses, becomes a spring, and propels your entire mass (not only your legs!) forward some distance, usually equal to the distance you slid back earlier in the stride.
That impulse that makes your leg tense on the forward foot landing and the final push-off of the stride are the same mechanically on the mill or the ground. You are still moving your center of mass the same relative velocity in both cases.