When I turned 68 my balance/equilibrium went to h ell, can't walk in the woods without constant fear of falling. I've been working with a group of Physical Therapists whose specialty is balance and equilibrium, so far things look promising that they'll be able to help improve things. May not be able to get back to baseline but any improvement will be welcome.
Trekking poles are a wonderful thing for poor balance. Even using 1 pole makes a huge difference. Now, if you can't pick up your feet, that's another issue entirely.
