страдать is weaker than мучаться. It's like "scared" vs "terrified", same grades of intensity but referring to physical or mental pain you suffer.

мучаться/из- на- по- + мучаться

"из-" and "на-" imply that someone has experienced a pain and still he shudders when he recalls about that.
Я намучался/измучался, пока чинил этот долбанный пылесос.
Means you feel like sh!t now after fixing the vacuum cleaner.
Исстрадался and настрадался vs the versions of "мучаться" sound ok too, just a tiny bit weaker than мучаться.

по- implies the period during which someone experienced a pain was really long, or someone experienced a pain quite a number of times.
Я помучался, пока чинил этот пылесос.
Means it took you a lot of time and effort to fix that f..ing cleaner.
пострадался... isn't a word
пострадал... sounds like you suffered some kind of physical harm while repairing it. Maybe you cut your finger or broke your leg when you kicked it in fury.