Hey Skylar, sorry to hear about your injury. I had an injury 3-4 years ago that sounds almost identical to what you describe, although it was from hitting a tree on my snowboard. I had complete tears of 2 ligaments, partial tear on the 3rd, and thin bone chip floating around from my talus. I must have been age 24-25 at the time I suppose.
Today it is a bit tight and sometimes makes some odd sounds and sensations, but little to no pain most days and has good range of motion. I seem to have equal range of motion as my other ankle, but it gets sore more easily. I've actually started climbing since then and while I'm at a beginner level it feels good and may be getting stronger from the climbing.
The biggest difference here is I did get the surgery to remove the bone chip. Not fun to spend the money but I was able to get arthroscopic surgery from a different surgeon, after the first I saw had recommended an open surgery. I was impressed with the arthroscopic, can barely see the scars today, it was just two maybe half inch long little cuts anyway.
My understanding is that there is no need to get surgery to repair the ligaments (and I didn't), but what you describe in my non medical opinion sounds like it could be the chip hanging up, or could just be a time thing and have some stiffness to bust through still, although 1.5+ years seems like long enough to me and it seems like you have been active and stretching for most of that. I would consider setting up the surgery if you don't see improvement soon.
In terms of exercises, other than basic calf stretches and such, the one I remember doing is trying to write the alphabet with your big toe, trying to do it mostly with ankle ROM. This was pretty tough/painful at first but got easier somewhat quickly. Other than that I didn't do anything special, I did get back into hiking as soon as I was able, at first wearing an ankle brace, then just boots, then trail runners. I was also trying to learn to skateboard at the time which has some ankle stuff going on, maybe a balance board or something would be good to try also.
Best of luck getting the ROM back, James