To unlimber the body after a long walk with load on you can hang on a bar and gently twist and tilt your body and also stand on your feet and hands with belly down and move the entire body in circles as you shift the mass from limb to limb a few times each way and than do the same with your belly up. After you did this you can stretch and push the torso against the ground to leave all the tension and stored tension behind.

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