I've had one once. Only once cuz it's very expensive. So I can't say if it really helped with recovery. I did feel totally relaxed afterwards.
Yes, there is some pain, but definitely sweet pain. I can't say how awful it was or not cuz I, uh, kinda like pain! The therapist who did my massage is a really good friend of mine who also sees the light of how pain can be a good thing - so he wasn't afraid to push my threshold. I don't think the experience would have been anywhere near so relaxing if I didn't know him well. I don't think I could get so relaxed with some stranger massaging my glutes & pecs. OK, maybe I"m a little uptight - but it was much better that he's a good friend.