But, given the damage I've observed in karateka, kung fu players, etc. I would suspect that the injury level is a good deal higher in Judo. I could understand some concern over wrists. Elbows and shoulders in general should not be any more and possibly less of a concern than in the other arts you mention. Keep it in mind, that as rough as some of it may look, good aikido technique goes with the natural direction a joint turns and never against it.
Some teachers make much greater physical demands on their students than others.
The styles of aikido as far as I understand them are not as different as some karate styles. Good aikido in any style pretty much uses the same principles which should make injury to joints minimal. All those hard falls can take a toll on us old geezers. Which is one of the reasons I chose to stick with Aikido. I knew I could do it seriously my whole life.