Get a couple of pairs of good shoes and alternate between your shoes daily Elevate your feet - lay back and rise your legs and feet up a wall 5 minutes at least. Use if you can a hot wax bath for your feet-obviousky do one foot at a time. Contrast bathing with Epsom salts helps too, 5 minutes cold then 3 minutes warm repeat 3x This is also useful for your hands/wrists.
Shoes I use Birkenstocks and Mephistos
Self massage on hands and feet helps as well

I use compression gloves for my hands.

I don't know if we are allowed to post links but I recently discussed Smart Crutches with my PT. They are more commonly the type used by patients with Ehlers Danlos syndrome, that I also have, but also by RA patients. They redistribute the weight more evenly. You can use one or both. I just asked my PT this week so I will be measured and order them. I have such difficulty with all walking devices and we were considering a platform walker until I stumbled on these Smart Crutches.

I take Epsom salt baths, microwave hand mitts, heating pad, hand braces, hand warmers and every topical pain reliever they make. At night I wrap my feet in a soft blanket before crawling in bed.