Don't know about benefits or otherwise of soaking feet...but patently looking after your feet in general makes a big difference.
Most likely biggest priority (assuming you've no blatantly obvious problem) is to check for any hard skin areas, and get rid of those. Then sort any "athletes foot" issues. Then keep feet skin relatively soft and supple by treating them a couple of times a week with foot care cream. (Something like E45 fine for that.)
But if those sorts of quick fixes don't give quick results...ask round for a good local chiropodist...you'd probably only need to go once or twice for them to identify any problem areas, and talk you through a good "maintenance" routine.