My “poor man’s” method is to load up a backpack with books, then go up with two feet and down on one foot. I’ll also do a set or two with a little ~quarter bend in the knee to focus on the soleus . I’ll also vary doing them shoed/barefoot. I tend to get insertional tendon issues, so getting on my very tippy toes is important.
A warmup exercise I’ve found useful, is to stand on one foot and then do a ~quarter squat while reaching out with the non weight bearing foot... each squat reach for a different “clock hand position” (running through the ~6 or 8 “hour” positions you can reach without twisting yourself up too much, do each few times)
That being said, I still have the morning hobbles (but I’m intermittent on the lifting exercises)