Yep. I fell over all the time. I looked like a 5 year old with scabby knees and gravel rash on my hands for quite a while. Most of these things improve with time, but I took a hiking pole with me on most walks in the early days and still take one if I'm going anywhere that I know there will be rough ground.
The other thing I have found really helps is the simple exercise of standing on one foot. For as long as you can, as often as you can. I mean every time you think of it--it's OK to hang onto something to balance if you need to. One you feel a bit stable, try raising you heels--you don't have to go right up onto your toes, just enough to get all those little muscles in your feet and ankles working. I don't think it helps with the nerve damage, apart form the obvious benefit of improving circulation, but it does give you extra strength that can help you recover if you have a bit of a stumble..