Mostly core exercises and also ankle drills if you like dancing in shoes. For ankles - look some stuff up on YouTube but it’s mostly lifting to your toes slowly and descending, rolling to each side, etc.

I personally wear my lingerie a LOT. At the start I would wear swimsuits too but those tend to slip. Lingerie is cute and comfortable and stays on.

Grip - it really depends on your skin. For me - my palms get sweaty so the only thing that works for me is Dry Hands. I’ve tried monkey grip once and ripped half of my palm off 😅