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Hello this is Dr. Salama MD,
Your symptoms are highly suggestive of a condition known as restless leg syndrome.
Considering your family history, it would be beneficial for you to see a neurologist who can order the appropriate testing for you and prescribe medication as needed.
Let me know if you have any other questions. If not, please don't forget to leave a positive rating as that's the only way I get credit for answering your question. Thank you.