I could do this...make circles with my right foot. My ankle never froze up. It could have, but I did some strange exercises. I didn't know any PT ankle exercises, so I made one up. I would do that. I'd make exercises if I didn't know any.
With the affected leg make circles with your foot. First clockwise then counter-clockwise. Make 10 circles each way.
When I first started only my big toe moved. I did it every day, though. I could have sworn my foot was micro-moving! It probably was. I kept it up every day and those micro-movements became something seen by the naked eye.