I’ve done normal massage at a spa (relaxing but doesn’t really get to the root of leg soreness), sports massage (OMG this hurts, I want to die, but after is nice) and a few other things in between
The best thing I have found is The Stick (Amazon link). Honestly this thing is a game changer. It is similar to foam rollers (it’s not foam, it’s hard) but you don’t need to do all the odd positions to get all the spots, especially for the tops of my thighs and hips (quite effective dealing with minor Patellar Tendonitis). I go with the 17" (In the link above) one as I travel with it now (in my bike bag) but I bet the larger one is just as good (if not better for leverage). It allows me to hit both broad areas as well as pinpoint and dig into the knots.
As I said, total game changer for me and recovery after big rides. The best $30 USD I’ve spent in a while.
Combined with some yoga/stretching for the legs/hips/core… it is amazing.