OK, so S is not being starved, so my understanding wasn't exactly right. Considering this fact, and the fact that Lame switches to L/R when necessary (and it seems to be quite good that), I find it wildly improbable that joint-stereo is going to be at all inferior.
Even in a lossless situation, joint-stereo saves bits. Here's an example, which is really just me thinking out loud:
Let's say for a segment of audio (e.g. a block), the side channel is 1/4 the full amplitude of the original (it might even be quite a less than that in a typical segment of audio, since a large portion of the signal is mono). The M channel (L+R) can be, at worse, twice the original amplitude. A lossless representation of the S channel, at 1/4 the amplitude would require 2 fewer bits, and the M channel would require only 1 more. Not only that, but huffman coding would work better on the S channel (and not much worse on the M channel, cause we're at a bit-depth that huffman coding would be doing poorly at anyway).
As for intensity stereo, as others have said, it's not even in Lame. FhG only uses it at 96kbps or below (if at all). At least some versions of Xing use it at higher bitrates, which is one of the reasons why it's a poor performer.
I dispute the notion that the stereo image is the aspect of the audio would be damaged
even if joint-stereo failed because it hypothetically starved the S channel and did so excessively, or if it chose incorrectly between M/S and L/R stereo. The result would be added noise (artifacts). The noise might be percieved in a different place in the stereo field than if a similar failure occured in L/R coding, but noise would have to be added in a much more specific way to modify the original stereo image. Stereo image perception is affected by things like relative attenuation of different frequencies and phase shift, which are things that aren't easily modified by adding noise in this way. If the artfiacts were really bad, perhaps they would decrease your ability to discern the original stereo image, but that's not the same thing. It's like not being able to tell the direction of a chirping bird because a jet is flying overhead. The jet doesn't really modify the bird's sound, or move it around - it just makes it harder to hear.
Someone please correct me if I'm barking up the wrong tree on this...
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Hmmm it sounds like you arent overly concerned with the purity of the S channel -starving it or merely subjecting it to filtration designed for real channels, this could add fire the pure stereo enthusiasts~
You make it sound as if the S channel is somehow much more important than the M channel when it comes to contributing to the stereo image (or overall audio quality.) I don't think that's a reasonable conclusion. Take for example filters in audio players that give you "wider stereo". They do so by (effectively) making the M channel more quiet. Likewise, since the L/R representation contains the same information as the M/S representation, damaging the L/R channels damages the overall audio just as much as damaging the S channel does.
Also, please don't refer to "stereo" mode in Lame (meaning the "-m s" switch) as "true-stereo". Joint stereo is not in any way less "true". It just means that it lets the encoder choose between two different (but equivalent) representations - L/R and M/S based on which works better on a given block. "Stereo" mode prevents it from having that choice. There's also "forced joint" mode, which forces it to have M/S on all frames. To be fair, the mp3 standard is at fault for the confusion because of the names chosen. Better names might be LR stereo, adaptive stereo and MS stereo.