Don’t be nervous, we don’t bite. Welcome to the boards. I think your post was held up for moderation as we have had a lot of trouble with kitchen advert spamming and new users have to be subject to moderation before their posts are published. I found yours languishing on page 3 which means it has been held up and therefore overlooked by us. This should put you back on the front page and you should get some more replies.
I get pins and needles too, mostly in my fingers and toes. It is worse if I am hot or tired or if I have over exerted myself. It usually wears off when I rest apart from my left hand which has pins and needles all the time. This is due to nerve damage caused by a previous relapse and I have learned to live with tingly fingers on that hand. It’s surprising what becomes the new normal. I just have to take a bit more care when I’m handling hot pans etc.
If your pins and needles are causing pain when you are walking then I would suggest that you need a neuropathic painkiller. Something like amitriptyline or gabapentin is often prescribed for something like this, although your GP or MS nurse may have a different one they prefer to try first. It is definitely worth contacting either one to discuss the problems you are having. It is not something you should have to put up with especially as it is limiting how far you can comfortably walk.
You are right about not driving when your feet are very badly affected. Whilst the DVLA are happy to give most of us a 3 year licence when our GPs and neuros tell them we are safe to drive, it is up to us to be sensible and not drive when our symptoms are at their worst. My neuro told me I must never drive when I cannot feel the pedals as it is not only unsafe but if I should have an accident my insurance would be invalidated and I could even lose my licence.
Hope this helps.