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You're basically -always- regenerating stamina during any task; except when you perform a power attack, even when sprinting, so by increasing your stamina regen rate, you can sprint for longer. By rank 3 or 4, instead of stamina going down slower while sprinting, you instead begin regenerating stamina, albeit at a slowed rate as compared to just standing still.
In A17, cardio had 5 levels and each level increases stamina regen by 10-15-20-25-30% while sprinting.
In A21 there's only 3 levels and they increase stamina regen by 10-20-30% while sprinting and swimming --yeah I know...who cares about swimming...but hey, its there.
Using less stamina while sprinting is a big advantage IMO. Especially early game. It allows you to run further and cover more ground while exploring or run away from Z's when need be. Which can be a life saver in certain situations.