Hello Les. Rls (restless legs syndrome) is one of the worst issues, on this dance card we call Parkinson Disease. I have found that a hot bath and leg massage with lotion helps calm them. I also keep my legs shaved, you could try that (I don't judge).
The jumpy inside I totally understand and am very familiar with it. It feels like all your nerve endings are firing at the same and you're about to jump out of your skin.
I call it the internal shivers.
For me the best thing I've found is a weighted blanket that also helps with the rls too.
Most of the time I just have to ride out the internal shivers.
Good luck

I tell everyone including Dr's it's hard to explain I feel like my inner body wants to jump out

Have you tried Gabapentin? I find that it works well.

I’m trying something on my own. I think it’s because of anxiety that restless leg syndrome bothers me so much. So I’ve been trying to experiment on my own. And I just try to relax and not worry I know it’s very hard but every night it seems to be getting a little better my legs haven’t been bothering me so much and I’ve been sleeping better so it’s worth a try.

Yes…. I get tremors really bad , when my meds wear off.
Did u know your meds only last a couple of hours.
When you take carbidopda levadopa. You need to drink lots of liquid to get into your stomach. It doesn’t start to work until it reaches your intestines.
If you have constipation issues you may not be getting any of the medication in your system.
They get stuck in the bowels.
And last there's no medication in the carbidopa, it’s a slow dissolving cover that should be dissolved by the time it reaches gut. Than levodopa goes to the brain.
We had several Drs and pharmaceutical representatives come to our monthly meetings. We really learn a lot.
Hope this helps.