PT and OT just gave me a "lightbulb moment":

Balance is your body getting the proper feedback of where it is in space (actually called proprioception, which gets hammered in neuro disorders). The more parts of your body that are getting sensory feedback (ie touching & seeing something) the easier it is to stay upright.

For example I have a heck of a time at the washer & dryer, shower and in the kitchen. I tend to prop my crutches against a wall so I can use both my hands. They taught me to stand with my hip against the machine and my belly or fanny against the counter top. When I turn around I need to use my hand to rest or hold onto something (the counter or dryer, the shower wall). She also broke down turning- plant feet, rest hand or hip against something and look in one place, then turn body slowly. Awkward at first but now second nature and almost normal speed.

By golly, it works!!! It isn't 100% foolproof but it really makes a big difference to me. She said that's why they always do the eyes open/closed standing test at the neuros office. Takes away majority of the proprioceptive feedback. That's why a lot of us can ditch canes in the house and become "wall walkers".

BTW- you may not need to necessarily 'grip' something (like a handle) but simple lay your palm, etc on the wall or counter. Amazing