One of the most effective ways I love to relieve sore muscles is foam rolling! If I’m super sore I’ll apply peppermint oil and use a foam roller before I go to bed. The pressure from the roller relaxes the muscle fibers and muscle tightness. I love to use mine primarily on my hamstrings but also quadriceps, glutes, back, IT band and calves. You gently roll the part of your body on the roller (slowly and not staying in one spot for more than 20 seconds). It’s basically a free massage for your muscles that you can do anytime!
I got mine years ago from Amazon and they also sell longer ones. Most gyms and studios will have foam rollers and they are so effective for sore, tired muscles and for warming up and cooling down. I use mine basically every week and especially during periods when I’m running, cycling and playing soccer.