Jointed stirrups don't have to cost as much as your saddle.
I have a pair of Metalab jointed on my Stubben, and FES jointed on my Wintec. The prices for jointed range anywhere from $20.00 to $220.00 a pair. The only real difference I've found in the uber-expensive compared to the less expensive is the price. They all work on the same principles.
I can't ride in hard irons for more than 30 minutes before my ankles, knees, and hips start screaming. In jointed, I can ride for hours.
One piece of advice though, buy the least expensive set you can find the first time out, because not everyone likes jointed. That way, you're not out too much money if you discover you hate them.