I have a friend with this same type of issue. His feet are numb all the time, he says they are stiff too. Yet, if he steps on a tiny pebble when barefoot, or in his socks, he knows it. It's funny how our nerves work and don't work. It's definitely a learning curve that is very hard to get used to. My hands and fingers do not feel numb, yet I will get cuts on them that I never felt happen...it's like mine are the opposite.
We urge all doctors to take time to listen to your patients.. don't "isolate" symptoms but look at the whole spectrum. If a patient tells you s/he feels as if s/he's falling apart and "nothing seems to be working properly", chances are s/he's right!