Restless legs...help!

I'm 17w2d and had awful restless legs at night. I get about a good 4 solid hours of sleep and usually wake to pee. After that I can't get back to sleep because I cannot get comfortable! I feel like I'm going to crawl out of my skin if I dont move my legs every minute or two. It lasts for hours. Sometimes I've taken Tylenol, tried get up and walk around or try and stretch my legs, but nothing seems to help! I am exhausted! Any other things I can try? It's been every night for about 2 weeks 😭