Advice on Footwear Choices (Altra, Zero Drop, cushioning)

So I've done a couple weekend hikes (each about ~20 miles) this summer in my Altra Timp 1.5s and I've noticed that at the end of each trip, my knees are sore and my Achilles tendon is tight to the point of it being difficult to walk for about a day. Now that three season hiking is essentially over in Michigan, I'm assessing my gear and seeing what needs to go and what needs to change.

Is the soreness in my knees and Achilles tendons likely due to my zero-drop shoes? I like running in minimalist shoes (I currently wear Merrell Vapor Gloves) so I figured zero-drop was for me, but now I'm wondering if I need to reassess. Was talking to one of the gear guys at REI and he suggested I might need more foam cushioning and recommended I try Hoka Speedgoats, which were indeed very comfortable and might take some of the brunt that my knees are absorbing right now.

I'm also curious about a middle of the road option and just getting Altra Olympuses; keeping the zero-drop while providing extra cushion for my joints/tendons sounds ideal.

Would love to get y'all's thoughts before I make an expensive decision.