Depends on who ya ask I suppose. I have a friend who insists the asphalt in Central Park is harder than the asphalt elsewhere. I personally have not noticed any difference.
Don’t know about concrete but I can tell you from my experience that surface definitely has an impact on how my legs feel. This winter, I’ve been confined to the roads. The trails I like to run have been iced over and I definitely feel the difference. The funny thing is, I think it helps prepare me for the marathon I’ll run which is on asphalt.
I guess if you don’t get injured no reason to question the surface.