Foot drop and stiffness?

Does anyone here suffer from foot drop or severe stiffness of the lower back and legs that impacts movement and specifically the ability to walk? The stiffness is bad in the morning or if I don’t move enough during the day but is especially bad in the cold to the point where my legs lock up and I can’t walk unassisted or without the fear of falling. It’s a noticeable thing when I walk as if my knees and ankles don’t bend and flex the way they should. It gets a little better with movement but never completely goes away. Has anyone who has experienced this found any relief?