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