To suffer through or tolerate something difficult, or to continue existing over a long period of time.
From Latin 'indurare' meaning 'to make hard,' from 'in-' (in) + 'durare' (to harden, last), related to 'durus' (hard). Entered English through Old French 'endurer' in the 14th century.
The word endure captures both passive suffering and active resistance - you can endure pain by simply surviving it, or endure through determination and strength. Great architecture and literature are said to endure because they withstand the test of time, much like humans endure hardship.
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