I find that having a decent stretch routine after a ride (and the day after) helps. The basics. Quads, gluts, lower back, shoulders.
As does use of a foam roller, when I get the technique right. Particularly on the quads.
I didn't find a TENS machine helped.
I've not tried a massage for short-term sports recovery purposes, so can't comment.
I've not tried an ice bath. That said, on multiday walking holidays, I have found hot/cold dips of muscles helps (in my case, at a hot spring spa with a plunge pool). A runner friend swears by something similar (in her case, the hot dip is at home in a bath with magnesium salts, and the cold is washing down in a cold shower).
All anecdotal of course. It may be some of the benefit I feel/felt is psychosomatic.