I have been taking cats claw (OTC) and I notice a huge difference in my hands. It took about 3 months but very happy with the results.

The heat from the coffee mug helps my rists

Tea really helps me. No coffee since it causes GI pain, likely related to years of these medications.

Caffeine for me does help me wake up and my stiffness recedes and my mental attitude feels relaxed.

Caffeine helps me with headaches. I don't know about the joint stiffness. Nothing seems to help with that.