Though I don't have RA, I can relate in a way, Lupus Arthritis. Lupus arthritis and RA must be doing a double whammy on ya.
I do understand the walk..I call it my full diaper walk..like I crappy my pants, toting a load till I can get upright.
Ever see those cartoons, how man evolved...gradually each picture depicts a more erect walk. I resemble that after any sitting.
Too, my tendons at my heels...Achilles feel short and I feel like my feet walk like a duck..quack, quack. Like pointing upward at a 45 degree....weird. You too?
It takes a long while to unfold after a night of sleep. For me, I pop a Lortab if I feel it maybe a rough night so I don't wake frozen in a painful position...How are your sleeps? Maybe that might be an idea...
While sitting, try to adjust often...though I forget too. Instead of keeping feet flat on the ground while sitting, cross at the ankles..that might help ease the pressure on your hips, knees, ankles and feet. It does for me...well, when I remember...
Hot topical creams?