Sore Achy Muscles- How Do I Resolve

Much as I love to workout someday, especially on the days I am giving my workout a 110 or 20 my muscles feel the workout later.  The lactic acid in the muscle build up and my muscles cramp, sore  and honestly it makes me want to just sit and not move, but that will not happen.
My remedy, I have several but a favorite which is an old-time use. The hot/warm water soak in epsom salt. I know for many this does not work and for as many it does. I raise my hand because for me it works.
Second remedy for is the foam roller, this feels like a deep tissue massage and the results are amazing and the relief is awesome.
Yoga is great now there are certain yoga exercises that stretch and tone and will give you a workout. I focus on just stretching muscles, relaxing and a little meditation assist with relieving the sore, achy muscles.
Getting a massage, deep tissue for me, and the right masseuse /masseur. I have experienced a few I wanted them to pay me for lying there because I felt nothing.
These are my methods of relief, what are yours? I am so open for suggestions.
To a week of workout fulfillment and a healthier you.