try this for ankles, see if it helps you. Whole channel is a big recommend for all things mobility and you'll definitely find hip stuff on there too, if you need some. Generally, I'd start from the bottom up (so ankles first, then hip), but if you can easily lift your foot off the floor to like 15-20° while you heel is on the ground it may just be a hip issue. Really hard to diagnose without seeing you squat tho, so you gotta kinda figure it out yourself, sry

Edit2; Your feet may also be making things harder for your ankles, see if massaging the bottoms of your feet does anything for your ankles. Either use your hands or step on a ball (in the beginning a tennis ball, later a squash ball or similar) and roll around a bit, to loosen up the whole foot, but especially that arch