Hello dear friend! I am right there with you. For some/most of us, RA is a constant need for adaptation. 
I switched to container gardening years ago. I put the containers where I don't have to bend and it's much easier. 
The walking is a tougher issue. I've had to accept that I cannot walk or stand more than 5-10 minutes. I've learned to scope out chairs, stools, and things I can lean on in every situation. 
You are never alone here. 
Blessings, 
Mary Sophia