I used to have that bone on bone feeling. Turns out it was….bone on bone. Finally saw a legit (after about 5 decent but not great PT’s) who said something was up and i should go get an xray. It was bone spurs. The doctor removed them last week and I am still in a boot but whenever i take it off i can already feel that my ankle has more dorsiflexion than before.
I had all kinds of soft tissue work done on it by professionals and myself and it would get better for a couple days and then go back to how it was. If it really never gets better it’s worth getting an xray i think. Wish i had gotten one 4 years ago when i first noticed this and not waited so long.