My knees and hips don't always like cross legged. At the worst of my hip pain, I couldn't sit cross legged at all.

If yoga messes with your knee then, by all means, don't do it, but I do think a mindful yoga practice can better attune you to the things your body can and can't do, which could be beneficial to you since you've indicated in the past that sometimes you can't tell the difference between soreness and injury.