There are many exercises that can be performed that will strengthen your ankle, but you should see a physiotherapist who will advice the best exercises. You did not mention your weight which is a big factor in stress on joints especially the lower legs, if you are overweight losing it would greatly reduce pressure on your joints. wikihow.com/Strengthen-Your-Ankles.
Drink aloe vera juice to reduce your ankle pain.
Ice your legs every time you are done your walks. I am a cross country runner and I know about bad ankles. Just ice them and if they continue hurting I would go see a doctor.
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