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Hello and thanks for your question. Maybe I can elaborate a bit on the accurate information Dr. Rick already provided you.
It sounds like you're interested in knowing how to completely rid yourself of the problem of esophoria/tropia and not just deal with its consequences (prisms).
Ultimately, the problem lies in the brain and, consequently, cannot be completely eradicated. Many patients go on to have surgery to realign the eye muscles. Of those who do, most go on to be quite happy and not have problems again, though some can see the esophoria/tropia return and need either prisms again or surgery to realign the eyes again.
In the end, however, because it's an innate tendency of the brain, there's no way to make it completely go away.
Does that make sense?
Accommodation and convergence are intimately tied in reflex arcs, one in particular which is called the near reflex. When you look at a near object, three things happen simultaneously on reflex: accommodation, convergence, and miosis (pupil constriction). Children who have esotropia can have a completely accommodative esotropia (meaning their eyes turn in because they are trying to overcome a moderate to severe amount of hyperopia that is not corrected by glasses), a partially accommodative esotropia, or a non-accommodative esotropia. Those with non-accommodative esotropias have some problem within their brain that is not tied to a significant need for glasses (in other words, is not caused by accommodative strain) that still causes their eyes to turn in. For those people we don't know why this is the way it is.
I suspect that you are this way as well. The accommodative and convergence systems do still coordinate in this way throughout life, but your ability to accommodate (because of stiffening and hardening of your natural, crystalline lens) diminishes significantly as you age, ultimately causing presbyopia. But the coordination and reflex itself does not diminish, only the ability of the lens to appropriately respond to the accommodative effort, as it did when you were younger.
I think you have a non-accommodative esotropia, or an esotropia that is not caused by significant hyperopia. Presbyopia is not known to cause esotropia.