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I've consistently worn lace-up boots since 1982 and have a very high instep. The specialist said I wouldn't be able to get my foot in a boot with the orthotics I would need to use. I did have gel heel insert for a while but they seemed to make it worse. Standing with the balls of my feet on the stairs and letting my heels go as low as I could seemed to help. Every step or kerb stone I was by and I was stretching the achilles.
I cured mine by wearing proper running shoes with support for my arch and heel, haven't had a problem since. I do still get the occasional day where I'm a bit sore but I'm walking a lot more these days.