I undulate. Undulation is a fluid movement through multiple joints. Unlike stretching, the goal is not to move to the end range. Undulation is nourishing to the joints and connective tissue.
My favorite undulation is called Sea Anemone (I named them for my clients to use) where I wiggle the fingers of one hand one at a time. At the end of a day when my hands are sore, this undulation really helps.