HF-charging is supposed to help, so is treating the batteries with additional hardware.
From my experience with lead-gel batteries in my EV, I can confirm that batteries regained capacity when treated with a device called Megapulser, available e.g. at Conrad Electronic.
I worked on batteries that dropped in capacity and had them attached to such a device over extended periods of time - weeks.
The did not completely recover, but there was a noteworthy improvement so I was able to put them back to work.
I suspect that permanent connection of batteries to such a technology during operation can considerably prolong their lifetime by prevention of sulfatation.