Have you tried taking naps when you do not get quite enough sleep? They have helped me a lot over the years.
Also maybe try setting your walking shoes (and attire) where you will constantly see them. Then it is just a matter of slipping them on and getting out the door.
Glad to hear about the rest doing you well. It makes a massive difference in so many ways when the circadian rhythms are consistent.
I have a hard time falling asleep, that's why naps aren't a good idea as they'd make that even harder.
That makes sense and sometimes they do that to me also.