I did pullup/chinup exercise, no discernible improvement, as always.
Then I did 5 sets of one 30 second handstand, facing the wall, climbing up with my feet, and walking into the wall on my hands, then walking back out to come down. I was able to walk toward and back from the wall without much "stagger" and came down safely and fully in control after each one. My previous best was 2 sets of one, coming down very unsteadily. Huge improvement!