Hi Jake and Ed, I struggle with balance also and have thought about seeing if gate training/therapy would help. I think @sueinmn has experience and might have some suggestions or thoughts. I did find some exercises and have been doing a few of them but I haven't looked into physical therapy for the training.

-- Boost Your Mobility With These Gait Training Exercises:
https://www.verywellhealth.com/gait-training-in-physical-therapy-5069884
Interesting thing I've been trying to exercise and help with my numb feet is a Sand Dune Stepper - https://www.sanddunestepper.com/what-is-the-sanddune-stepper/. I purchased it about 4 years ago and used it for a month or so but gave up because of balance issues and not wanting to fall while using it. Recently found it again after another members asked about the device and started using it along with two extended trekking poles and am now able to use it safely. It does really feel like walking in some deep sand on the beach and I think it will help with my leg muscles and balance when walking.