Do people use boxer skip for endurance

Jumping rope makes my pecs bounce uncomfortably.

It just takes practice. Here is a hint. Get a cheap jump rope and cut out each handle leaving about 8” of the actual jump rope piece attached. Put some tape on each end. Now you can jump rope and not look like a tard and pretty much get the same results. We do this with all of our beginner boxing students. You can google how to skip like a boxer after that and soon you can get enough rhythm to jump with the real thing.