My dogs are split, one doesn’t really jump up and we never had to train it out the other doesn’t jump up out of excitement but when he’s being affectionate and will often use my knee as a point to stretch from, it’s definitely part of his love language so I haven’t tried to teach him not to but I don’t think he’s “returning pets” either

you’re right though about nuisance jumping, fold your arms, turn away and simply say no then reinforce good behavior when you do get it.