Humans raised on earth would find living there extremely unpleasant. The body would adapt by becoming stronger but it would be painful simply existing, and would wear out joints significantly. People with already poor health may be unable to survive, depending on how strong the gravity is.

We obviously don't have any data on how humans raised in different gravities would react, but its likely that humans raised on a higher surface gravity would grow shorter, stocker, and more muscular. Humans on lower surface gravity would likely grow taller, wispier, and more elongated, and would by the same token find life on earth equally unpleasant.

The Expanse series does a good job of highlighting these differences in a human way, since there are many people who grow up in asteroid colonies that cannot live on Earth easily.

Imagine hanging a weight on every cell and fluid in your body. I don't think people would live very long. We already know there's damage (eyes) after months in space due to a reduction in gravitational effects.