Tai chi is good advice. So is using a cane (a cane is less humiliating, imo, than a walker - although a walker may be safest for now). Don’t get just any cane, btw. There is an established way of fitting the length of the cane to your needs; you can find that system online at any site selling canes.
I’d see a doctor in any case. You’re probably still too young to break a hip, but the more you fall the higher the chances go. Or a wrist, or something else.
I’d think those toes that won’t curl have to be part of the problem. It may just be your aging process, too. A doctor should be able to give you the information you need to stay safe.