I hate to say it, but I’ve got a feeling this is going to be another of those “it’s different for everyone” questions, so common with MS.
For me, the feeling took a long time (a year, maybe?) to come back completely - I was even beginning to think it never would. But I think I could tell it was improving quite quickly - within days.
I remember being delighted I could tell the carpet was wet (Don’t ask why the carpet was wet ), because I hadn’t been able to feel that a few days earlier.
I would say, in general, the biggest improvement was quite early. After that, it slowed a lot, but I still got subtle improvement, even months later.
I’ve never tried steroids, so can’t advise you about that. I was a bit depressed about the numbness, but with me it wasn’t really painful or disabling, so I never pushed for them. Maybe I should have, but it doesn’t make any difference to how well you recover - only how fast.