I've been introduced to Hanna somatics and am impressed by the results. Initially I had an individual lesson and was shown suitable exercises for my upper arms and shoulders. I've done these exercises every day for about a month now, and I notice far more freedom of movement in my shoulders. The exercises are very gentle and can be followed on YouTube if wanted. There's lots of information about Hanna somatics on YouTube or Google it.
I do yoga as well, but at the moment I'm concentrating on these exercises.
It's worth a try if you have problems with shoulders.