Hi @jmr 
sounds like you’re in a bit of a pickle mate
I hope you do find some sleep and, I hope you do continue to wake up (I’m at risk of SUDEP in the night but, I’m determind that that’s never happening)
. if it helps, I find a bit of reading, especially something technical that I have to think about before bed time tends to tire my mind and help me to nod off eventually. your gp or neurology team may be able to prescribe something to help with the leg twitches at night and nerve pain during the day- maybe something that makes you drowsy 
for what it’s worth, I think folk like you and me that still have the use of our legs (even if difficult now) are some of the lucky few. Some on here do have it worse than us. I’m a firm believer in that while we still can - use it or lose it. I struggle with weakness and tremors in my hands so, I use them as often as possible ( I’ll have to correct this message loads of times before I press reply but I’ll flippin’ well get there. I was diagnosed around 7 months ago with RRMS and epilepsy . before that, my life was the best it ever had been but, this thing ended my career. but s**t happens, I’m still me and, you’re still you - thank god for small mercys 
you may be able to get get help with the ncontinence if you ask for it. I pee myself when I have a seizure then, wake up in hospital to find that my trousers and underwear have been removed and, I’m wearing an adult version of those huggies pull up pants - they’re actually quite discrete.
we’re at the colder end of the year now so, it may be worth trying that walk again, it doesn’t have to be far (mine aren’t because I get disoriented and lost easily now)- maybe with a stick or 2?
I also have vision issues - I find that people are generally kind enough to give me some leeway when I’m I’m walking and they spot my limits now.
I’ve found that if I find a line that I can see and follow, I still occasionally bump into someone on my left side but, it tends to stop me falling off the pavement into the road or walking into lamp posts.
keep battling on and, take the small wins as they come - they can come 
I also often lose words but, I find a quick descrpition of what I mean gets me there - the latest one was, Wardrobe became, big wooden thing upstairs full of clothes 
I wish you some good days.
all the best mate
x
Jon.