There is no way to get around legs being the most difficult work out... and you will probably be dealing with some delayed muscle soreness after leg work outs no matter how many years you have been working out.
A big problem though is the amount of weight people try to squat and the belief that every set needs to be to failure. I am not advocating easy leg work outs by any means, but rather full and controlled range of motion. Going to failure on every set of every work out is incredibly taxing on the nervous system and is a big factor in getting worn out at the gym imo. While this doesn't seem to be as grueling with upper body workouts, a leg workout loaded with failure sets is going to leave you hating them.
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