Health concern) My ankles feel sore when I wake up at night or in the morning.

On days when I walk a lot or exercise vigorously, my soles and ankles inevitably ache. For a while, only my soles hurt, so I bought arch insoles and soft slippers to wear... but these days, my ankles also ache, so I wear ankle braces... it's hot...ㅠ

It might be due to aging, but it seems like inflammation is moving around the joints and causing discomfort. The prescribed medication seems to be only temporary... Are there any exercises to strengthen the ankles? I am diligently doing ankle rotation stretches every morning upon waking.