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Hello and thank you for your question.
It seems that since the very beginning of your symptoms (numbness/tingling in the groin), your doctors have treated you for anxiety. Anxiety often causes symptoms of numbness and tingling in different areas of the body.
Sleep deprivation definitely adds to increased anxiety and, therefore, can worsen your symptoms which is probably why you have been having more of them when you are not sleeping well. However, anxiety and the symptoms which it brings are not necessarily related to sleep deprivation, they can be caused by any type of stress or if you are prone to anxiety, the symptoms can come from no specific cause.
So to answer your question more specifically, your symptoms are related to anxiety. Sleep deprivation will make them worse but sleep deprivation is not the only reason why anxiety and your symptoms can get worse. I do not believe that your symptoms are at all related to being off Xanax.
I hope you find this information helpful. Please feel free to follow-up with any other questions you might have.
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Best wishes and good luck,