Sleepless feet and legs

Does this ever go away? I am fine all day but at night I have horrible sleepless leg and arm syndrome. Mainly in my left foot and left arm. They will feel numb or tingly and so uncomfortable. I have never had this until I had to start sleeping on my side. Now it even happens when I’m still sitting up. My doctor says my iron levels are fine so that’s not it. I am so miserable with this and can never sleep. I am trying everything. Did this happen to anyone? Did it go away after birth? Anything help ease it?