Any physical action takes effort, so it is dukkha. Therefore, dukkha was experienced by both the Buddha and Ven. Ananda. However, Buddha’s actions did not involve abhisankhara (sankhara with kammic consequences), whereas Ven. Ananda (who was not an Arahant at that time) did.
Many of these questions can be answered by understanding what is meant by sankhara and abhisankhara. See, “Sankhāra – What It Really Means” and posts therein.