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Efficient running involves you foot striking the ground around your midstep/ball of the foot region. Landing on your heals slows you down and it takes more energy to overcome the stopping force created. There are tons of articles online about how to run better/more efficient. Google it.
Jumping rope is something you should really learn to love. If you arn't good at it, you haven't done it enough. I'm sure you can find room somewhere.
Running on your toes may be a bit much. Try the method I described above first. You speed and endurance will improve and it may give you the some of the other benefits you're looking for. Good luck
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