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Your symptoms sound consistent with a peripheral neuropathy. THis problem Is associated with RA
The good news is that the uncomfortable feeling is treatable. Drugs such as neurontin can "calm" those nerves. If that doesn't work, there are other medications which can be effective.
If your Rheumatologist is not able to help you, I would suggest you get seen by a Neurologist. Some herbal meds and vitamins help people, but I am not expert in that area.
It is also important to consider other causes such as spinal arthritis with nerve compression and leg blood flow problems.
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This answer is for information only. It cannot and should not be substituted for or the recommendation of your doctor
You have also found an effective comfort measure..socks! They also protect your feet, which might be injured when you can't feel things well