I've had issues with this for years. Prescription orthotics always solved my problem in the past. Last year, it got really bad and I went and got new orthotics. Sadly, they haven't made a difference. I've bought several highly rated orthotics from Amazon as well. Still no difference. I'll be seeing my podiatrist again next week.
I stretch my heels a lot hoping it will help, but no luck. My left heel is particularly bad. I've been limping for about a year now. And when I cook in the kitchen, I have to find a stool and kneel on it because I can't stand for too long. I wear shoes in the house or put orthotics in my slippers because going barefoot hurts too much.
Meanwhile, I've discovered a way to get temporary relief. It started with my massaging my heels and grabbing the sides of my heels tightly. That felt good but it takes a lot of arm strength to do that for a long period of time. I went to the hardware store and bought some clamps. I clamp my heels and can adjust the tightness. I'll sit with my feet up and heels clamped while watching a TV program. That gives me temporary relief.
The clamps I bought are Irwin brand. They are called bar clamps and they are 4". They cost me about $3.50 each. I figured that was far less than paying someone for a pedicure or foot massage if my plan didn't work. They look like: