Incomplete recovery does not, in itself, indicate you no longer have RRMS. Most people find, as time goes on, that recovery gets less perfect.
But if you are still recovering, even partially, you probably still have RRMS. The diagnostic criteria for RRMS do NOT say recovery must be complete. Only that there has to be some.
The other thing is not to give up hope yet, as you may have further recovery still to come. I've had a relapse similar to yours, that took me a year to get over. I did start my recovery before that, but I don't think I improved as much as I was ever going to until the full year had passed. So don't assume that after six months, no further improvement is possible.
As for the driving, I am a non-driver, but I would say that if you are concerned about the possible implications for your driving, the responsible thing would be not to do it. If you can't feel the pedals properly, it has to be a risk, I would have thought? I know that's probably not the answer you wanted to hear, but the very fact you're asking means you're aware there's a safety issue.