Is it your left side that is weaker? I have similar problem with left foot, but over a long period of walking with poles for leisure (Nordic Walking) to help cadence and posture, meds for tremors and spasms, some pilates to strengthen core and keep flexibility, occasional massage to keep circulation and stop muscles cramping etc, I have a reasonably normal gait. I am now trying PD Warriors to try and retain my mind-body connections, extend if possible and hopefully create new neural pathways.

I have tried a lot of different things - including hydrotherapy when I had very tight hamstrings, arthritic knees and plantar faschitiis - it gave me strength and flexibility gently and helped me at a time when I had very little other activity I could do for a while. I tend to think of these times as "blips" - the plantar fasciitis suddenly disappeared one day and I was so grateful!

Warming up for longer and doing special hamstring stretches may help - perhaps you could also be referred to a podiatrist? My orthotics greatly helped. There are so many things you can try to suit your interests/lifestyle. it might also help if you can get a referral to a neuro physio who have specialised knowledge of movement disorders.