The one thing that I forgot to say that I think may be important for someone:  After several years and seemingly reaching a plateau in my strength and recovery, but still faraway from where I needed to be to walk and function more normally, I started to work with a personal trainer in strength and weight-lifting. Doing mainly squats and deadlifts, beginning with just weighted plastic pipes, and it made a drastic change in my recovery.  It would take a very knowledgeable and patient trainer, but the results were significant. Once I achieved a little more strength through a range of motion, I progressed and my gait improved and I could walk without such a limp.  

Thanks Clay!