A place for runners.
If you haven't sprained/hurt them and they're sore, that sounds like they're not happy about something. Overuse, or some gear issue (shoe), but generally inflamed.
But, to just answer your question, run on trails not the road and you'll strengthen all the lower leg muscles connected to your foot/ankle. Just remember to pick up your feet more than street running, or your gonna fall!
P.S. you're still probably going to fall :)
Put your sole vertical and push down stretching is a regular option.
The other thing is to practice the ankle with a muscle memory of avoiding sprains when you're on uneven ground. Just train it to see the danger of continuing, and do something about releasing the weight of that foot immediately.
Good training can come from ice skating or roller blading. Both require the muscle memory of avoiding sprain type caving of the ankle. Do it so you release sooner.
After an ankle injury, my physical therapist recommended to purchase Resistance bands of different strengths and BOSU Ball from Amazon. Resistance training, balancing exercises, and Stretching.
That being said, I would try finding a sports medicine specialist or PT to guide you through these exercises to address the pain you’re experiencing. https://www.verywellhealth.com/ankle-exercises-a-complete-guide-2696480
https://www.menshealth.com/fitness/a26412541/ankle-strengthening-exercises/
Since most comments are focusing on exercises you can do: Diet is a large part of it too.
Things like leafy greens and berries contain a lot of antioxidants and phytochemicals which help combat inflammation.
Nuts and Seeds contain Omega-3 fatty acids which are important for joint health.
Make sure you get enough calcium for general bone health too, and you have all the vitamins and minerals in your diet.
It's very anecdotal, but I used to have ankle problems while running, and minding my diet more has helped a lot. I don't have joint pains after long runs anymore.
Calf raises and tibialis raises (search youtube) are what I've been doing, they seem to be helping.
A very easy one is to stand on one leg every day while you clean your teeth