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"This is the peer reviewed version of the following article: Thorup, A.‐S., Dell’Accio, F. and Eldridge, S.E. (2020), Lessons from joint development for cartilage repair in the clinic. Developmental Dynamics. doi:10.1002/dvdy.228 , which has been published in final form at doi: https://doi.org/10.1002/dvdy.228 This article may be used for non-commercial purposes in accordance with Wiley Terms and Conditions for Use of Self-Archived Versions."