Sounds like you have a good pain management doc!
I hope the ESI is helpful. I know it has helped my husband a great deal. I also know of other "spinies" who take MS Contin and swear by it. I have tried Skelaxin myself but for me most of the muscle relaxers don't help with the exception of Valium. So, I hoard those for the bad times.
Lidoderm will help too. I just asked for some refills the other day. They do take the edge off. And I am also having hip pain. But, like, you...everything is supposedly mild degeneration. So, hang in there...again it sounds like your PM has you pretty well covered.
And, one other thing, and I am speaking strictly for myself...stay away from any Chiro's or manipulations of any kind!!! What I have found to be helpful is aqua therapy in a hot pool. Other than that...let your PM advise and good luck to you. Keep us all posted as to how things are going.