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I’m sorry to say that I don’t think that there is much advice other than experience. I do the vast majority of my running off-road and I think this has contributed to good lower leg strength and stability (so maybe that is something you could work on?) and I echo other sentiments that I can now feel my ankle beginning to roll and instinctively shift and adjust my weight to avoid an injury.
I definitely recall times when I was less experienced off-road when I dreaded the dry ruts and there are still sections that I run gingerly (like coarse ploughed fields that have dried!! Or some of the rock gardens when I was running in the lakes last year). So I guess my only advice is to run more off-road and take it cautiously on any areas that you feel are sketchy, with experience you’ll improve but as with everything don’t rush things.
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Ah! yeah I know eactly what you mean I've been struggling with that around where I am too - pretty tough on the feet. I've never actually rolled my ankle running (touch wood), though I feel it move towarrds a roll very often - if that makes sense. It always stops before it goes too far - which is often enough to alram me, but never enough to actually cause any pain or damage. I suppose maybe my bad advice would be to trust your ankle stability and just run smoothly.
Not exactly sure what you are asking - is an 18km walk good for a rest day? I would say that sounds pretty hefty..