I'm not sure of the quality of the joints at this point, but I always run with the idea that the body responds to stresses. In this case, you'd want to "stress" your injured joints to help them out, just not too much.
Pushups against a wall (stand far and lean in), slow and controlled, are very easy on the shoulders, but also good for them. You can do the same with with pullups in a door frame (stand close and lean back). Both of those might be good to help recondition your shoulders. As always, if it hurts, stop.