Have you tried, or considered trying, CBD? Really helps me with the leg stiffness.

Aww thank you so much! Great advice for me.

I have the same issues as you and also have gone to PT and done the foam pads. My PT person told me that I could practice at one with a garden knee pad. Also sat on a large exercise ball with your feet on the floor to work on balance and core. If you can see a PT they are very helpful with balance and mobility. Start small and be careful. Don't be against using a aid. The best advice someone gave me when I started needing one is that it also helps people see that you are going slow and don't run into you. It make such a difference when I am out it public and go at my own speed.
Also stretches make a difference in the stiffness.

I shall look into it thanks you so much!

Have you tried using a cane? I can't suggest any medication because I do not take any. Maybe a brace that is covered by insurance would help.

When it was discovered that my problems with walking were due to MS I was sent for physical therapy which was extremely helpful and I have tried to continue the exercises at home. It was recommended that I use a brace but the physical therapist determined that the braces would not help me. So I did a lot of research and found an FES device called a WalkAide. It sends electrical impulses to my leg to help me lift my leg and control my gait and my balance. That said, it is extremely expensive and of course not covered by insurance. I also use a cane. Without those two devices I would not continue to do what I love to do and probably would have fallen countless times.