Does Daily Exercise Really Help Improve Sleep?

I’ve been trying to fix my sleep routine lately, and I’m wondering if adding a bit of daily exercise could actually make a difference. Has anyone here noticed better sleep after doing simple activities like walking, stretching, or light home workouts?
I usually struggle with falling asleep and often wake up feeling tired, even after a full night in bed. I’ve heard that staying active during the day can help the body relax at night, but I’m not sure how much exercise is actually needed for it to work.
Do you think even 20–30 minutes of light exercise is enough to improve sleep quality? And is there a best time of day to do it for better results?
I’d really appreciate any personal experiences or advice from people who’ve dealt with sleep issues.