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Your description does not sound worrisome, particularly if you are in good overall health otherwise. One thing you could do it get nerve conduction studies (i.e. NCV/EMG). These tests will show you if there is any evidence of nerve damage in the legs, how severe it is, and where it is likely coming from. Another consideration would be a "small fiber neuropathy."
Small fiber neuropathy manifests in a variety of different ways and often results in symptoms of burning pain, shooting pain, allodynia, and/or hyperesthesia. Diagnosis of this condition is determined primarily by the history and physical exam, but functional neurophysiologic testing and skin biopsy evaluation of intraepidermal nerve fiber density can provide valuable diagnostic clues.
You should ask your GP for a referral to a neurologist who can examine you, do the appropriate tests, and sort out the possible causes of these abnormal sensations.
Did you have any follow up questions about this? Let me know if there is anything else I can do to be of help.