I’ve done a Torso/Limbs split like you are considering (upper/lower, but with direct biceps and triceps work on lower days) and have really enjoyed it. I don’t use it all of the time, but I’ll definitely come back to it periodically. As much as I truly love training legs and some sick part of my mind wants to have absurdly massive quads, if I’m honest with myself I don’t need any more trouble finding pants that fit, or the joint wear and tear that comes with insane leg training. And no one really cares how big my legs are (and really, no one cares how big any of my other muscles are either, I suppose…) But in theory more emphasis on upper body makes sense for a regular guy (which is painful to admit), and therefore it makes sense for me to put a little more emphasis on upper body muscles in training and less on legs, and one practical way to arrange that is to move some upper body volume to lower day to even out the effort and fatigue between days.
For me the main tactic to manage fatigue with back-to-back sessions is exercise selection, namely choosing compound chest/shoulder/back exercises that have less arm emphasis. This could vary from person to person but for me it means that this is not the time to do close grip bench or a supinated pulldown, which would seriously hit my triceps and biceps. Instead, regular grip bench and pronated pulldowns, for example, where my chest and back are much more a limiting factor than my arms, and therefore my arms are farther from failure and less likely to be too fatigued to train the next day. Or use more isolation exercises for the torso muscles for this phase of training.
I prefer to do M Torso, T Limbs, (W conditioning,) Th Torso, F Limbs (S/S conditioning/rest). On the limb days I prefer to start with the arm exercises, maybe 1-2 exercises each for biceps and triceps, supersetted if practical. These don’t fatigue me too much for the leg work that follows, but if I do legs first then I have nothing left in the tank for arms, which undermines the purpose of the whole thing. And I find that starting with arms can be a good way to ease into the training session and get the adrenaline flowing before the leg work begins. Another option is to alternate arms sets with warm up sets of leg exercises (or with work sets of “easier” leg exercises).
That said, after a couple months doing arms before legs starts to feel like a big hurdle, and I find myself wishing I could just focus on getting ready to hit legs straightaway. When that happens, its time to shake up the split to something else for a little psychological boost. Likewise, when I find myself yearning to mix in some close grip presses and supinated pulls, then that also means its time to move to a different split.
I should mention that I am someone who does need to pay close attention to joint stress given my history, but I haven’t found torso/limbs to be too rough on my joints. That said, my issues have usually been my hips and shoulders and not my elbows or wrists. Somebody with problematic elbows and wrists might run into more trouble. As others have said, if you try it out (either in the real world or just on paper) and its not for you, then its not for you. But there is a lot to like about it if you accept the tradeoffs and make some practical choices.