If you can do it in the bath tub with warm water? I know you said you have dogs but just close the door and stay with the little one even 5 minutes would be better than not at all.
If you can put this one into some nice warm water and massage it might help?
also letting this little one swim around in some nice warm water. we call if water therapy.
Can you put the foot in the normal position if so you can make a shoe to hold the foot in proper position.
Try mealworms to give the 1ml over for each one having problems.