I’ve dealt with the same issue in the morning with spinal stenosis. What’s helped me is sleeping with a pillow under my knees to keep my spine aligned, stretching gently before bed, and using a heating pad at night. In the morning, I do light stretches in bed before getting up. It doesn’t eliminate the discomfort, but it helps reduce that stiffness and difficulty walking when I wake up. You might want to ask your doctor about adjusting your routine or meds, too.