Thanks! I bought these trekking poles on Amazon:
https://www.amazon.com/gp/product/B0742KJPVL
They are great for balance. I think my front/back balance is decent, but side-to-side is pretty bad. Looking up or to the side while walking is just plain risky. I am a little faster now with the trekking poles. Anyone with similar balance problems should try something like this. They weren't hard to use. I was using them pretty effectively after my first four mile hike. I was faster with them than without them on my second and third hikes.
Better balance - whichever pole is on the ground, I can feel it as a point of reference for balance. I still tend to lean over to the side at times, and I can just push on the pole to stay up. This is especially great because it allows me to look around more instead of studying the ground 100% of the time.
Having to track poles and feet is a little more to mind, but my foot placement doesn't have to be so careful now, and the poles can pretty much be placed anywhere. My only annoyance now is if I don't lift the pole enough and hit a rock on the forward swing. With the poles I can tolerate more ankle turn if I step on the side of a rock, since they don't have to carry my full weight.
Better endurance - going up hill is like scrambling up on all fours, only you're still standing. With the assist from my arms, my legs do not get as tired, which helps balance as well. More fun, less work.
Better knees - I'm not as good at going downhill with the poles, but enough to keep some of the weight and impact off my knees. Long downhill stretches used to be the worst, with my knees complaining and at times refusing to continue. Now my knees are no longer a big problem, and aren't aching at the end of the hike.
Hopefully this can extend my hiking another couple of years.