In a patient with long-standing MS, foot dragging, reduced endurance, stair difficulty and instability can result from pyramidal weakness, spasticity, foot drop and/or MS-related fatigability. It is important first to determine which of these is dominant.
There is a specific non-steroid medicine worth discussing with your neurologist: dalfampridine. It is specifically indicated to improve walking in adults with MS and can improve walking speed in some patients.
Next Steps
I would suggest a neurological gait assessment + physiotherapy assessment before prescribing anything.