When I get up in the middle of the night to trek to the bathroom. I usually sit on the edge of the bed for a while before getting to my feet. I rise carefully on both feet. Fortunately, I have a wall near me when I get up, and if the rising is somewhat unbalanced I can put my hands against the wall. This "wait" is difficult if I have urgency to go to the bathroom. Sometimes I don't quite make it, and the floor gets wet, but I just wipe it up with a towel and sigh, and feel glad that one more time I made it without falling.
I fear falling in part because I DID fall in 2010, down stairs in Seattle. I broke my knee cap. I have described the misery which followed that, dealing with where to live while I recovered. It is amazing that I was not hurt worse in that fall, as I fell down perhaps 8 steps and slid into the wall with my head. I had a catscan at the hospital and my head check out fine, but I had a clean break of my patella.

I exercise every day to work on my balance. This probably helps but not completely.
It's always an adventure, the midnight crossing of the hall.