Restless leg syndrome

Does it feel similar to when your leg falls asleep? Like the tingling pins & needles sensation?

I read it can develop in the 3rd trimester. I’m only 23 weeks and felt it last night in bed. I was laying on my side and the leg on top felt asleep. But it wasn’t under anything or bent, and I kept feeling like I had to move it. Now I’m at work at a desk and can kinda feel it a little on the backs of both legs.

Anyone else have this? Anything I can do? Thanks!