Depends on the homeground.
Lol yeah, if its in Drakes homeground or a similar enviroment then he'd have the upperhand. Mind you Drake has has a bit of "zombie" type experience with those decendants so, if it was a in a bunker of some sorts, then it will be a "fair" battlefield for both characters.
A man hardened by 20 years of nothing but survival and doing whatever he needs to stay alive against equally desperate humans and ravenous infected.
He may be older and not have the athletic prowess of Drake, but Drake is driven by loot and adventure and Joel is driven by that base instinct to survive. Just due to experience in that type of world, the type of combat he's used to, the way he fights, Joel would kick Drake's **bleep**