A little while ago ; but it is more "experimental" that really prepared, I try to put 3 - 4 balance asanas in a row, and do the other side, 3 times each side.
e.g. tree, toe-to-hand side then front front, go down in a lunge, come back with a high knee.
or tree (always a safe starting point, LOL), stretch foot in front, brush the leg back without putting foot on floor, reach Warrior 3 (or any asana that has your bust parallel to ground).
Or insert dancer, or eagle, anywhere fun.
My kinesitherapist wanted me to work on my balance, and doing that regularly did help. His point was that doing moving balance exercise would force me to work with imbalance.