I like using a RAD (little spikes) ball (Naboso makes these also) for a gentle massage of the foot, pausing at the reflexology points to give a little pressure. I leave the ball whole and simply, while seated, roll it under the foot, then manually do the same on the top of the foot. I don’t split it in halves and stand on it, as I’m not looking for tendon/muscle release, just an awakening of the foot. I do it first thing in the am, and last thing at night.
Naboso sells socks and insoles (different degrees of spikes) also, but I haven’t tried/needed those.