If you can, find pavements with tarmac rather than concrete paving, as it actually has more "give" than what is pretty close to solid stone. If you have had no problems, then you should be fine. If you are injury prone, sticking to softer surfaces can help a lot to cut down on the amount of time you are off with injuries.
You don't say what your mileage is - you may find that if you increase your mileage significantly that you recover better if you do long runs off road rather than on. In saying that, I know plenty of people who train for and run marathons all on road/pavement, and do just fine.
As DBSA says, better running on pavements than not running at all. I would only contemplate gym/treadmill running if it was snowy/icy enough to make outside running dangerous.