Is this restless leg (and arm)?

Lately, I’ve been waking up from a deep sleep to feeling tingling and achiness on the left side of my body, like I need to move or stretch it. I don’t know how else to explain it, other than it makes me want to crawl out of my skin. This is happening on an increasing basis. It is terrifying, because it is not just in my leg, but on the whole left side of my body. It’s almost like I feel it in my head. I struggle with anxiety, so I’m wondering if the feeling is causing panic in my sleep. I do have shoulder and sciatica issues on the same side. Does this sound at all like restless leg? Can you get it on a whole side of your body?