A couple more thoughts:
1 - For the last several years we've worn nothing but "barefoot shoes". By this I mean 3 things:
- very wide toe box so that those toes can operate independently
- zero heel rise! the sole shouldn't not be taller in the heel.
- very flexible, thin soles
Again, proprioception is key. We want to feel the terrain under our feet. In the barefoot shoe community, normal shoes are referred to as "foot coffins", because they cram your toes together, effectively making your feet into clubs. When I see adds for "senior's shoes" that advertise these huge, thick, spongy soles, I want to scream. This is just a fall waiting to happen
2 - Learn to squat. Take your time. Asian countries have a sort of "squatting culture", and they have almost no hip or knee replacements.
3 - Learn to go from standing to sitting on the ground (cross-legged), and then getting back up gracefully. Again, take your time, this might take several months to achieve.