On question 3: in a human, essentially not.
Muscles have some elastic recovery, tendons store and return energy, which is what makes running efficient and why a bouncing gait costs less than it should. But that works over a bounce, in fractions of a second. Over a staircase descent, at walking pace, with a deliberate pause on each step, there is nothing to bounce back into.
Where it is recoverable is in machines that were built for it. Regenerative braking in an electric vehicle is exactly your question solved: instead of turning the descent into heat in the brake discs, the motor runs as a generator and puts it in the battery. Lifts do the same thing with counterweights, which is the older and simpler answer - the descending car raises the counterweight rather than heating anything.
Your body is the version without the generator, so the heat is the end of the line.