Physical therapy may be able to help strengthen your muscles. I have been actively trying to strengthen all of the support muscles in my arms, and legs, so when a primary muscle is acting up, there are other strong muscles to take up the slack. My walking is straighter, my grip strength has improved, and my confidence with lifting has increased. MS attacks the brain, and spine. Everything is controlled by the brain, and spine. Only thing to do is work around the damage, fortify your body, and push forward.

Yeah. Mine go extremely stiff. Or I get pins and needles in them when holding something for too long. I use adaptive cutlery which helps me a little bit. Heat/ice helps for me. In this sort of weather ice, but in winter the heat helps. Lols. Good luck.