ZZZ, I think that generally (no medical diagnosis) that is a pretty common problem. For me, I went from thinking that maybe I was going to have to quit ski touring a perhaps get surgery to having my hips feel pretty good. But it good a daily commitment to being healthy.
I don't think the best approach is to think about a particular stretch or exercise unless it is prescribed by a good PT. A lot of times the pain manifests somewhere because of an imbalance of weakness somewhere else. That said, try this
https://www.youtube.com/watch?v=Ho9em79_0qg&t=819s
I think is is pretty easy to have muscle imbalances that manifest as pain even if you are fit and active. So a routine of stretching and strengthening your whole body in addition to just exercise seems like a requirement as we get older.