Definitely sounds like RLS. I have this prior to pregnancy and had to stop taking my prescriptions to help with this. You are lucky it doesn't bother u when trying to sleep, and only when relaxing. I get it all the time, including when just sitting down to watch tv and relax.
i believe there may also be a link between RLS and low iron, so it may be worth looking into your iron levels.
Good luck, take care.
Ditto this exactly. I miss my meds for RLS so much. :( My sleep doctor also recommended checking iron when I was first diagnosed. It was low, but didn't get better after my iron went back to normal. My iron is normal now and of course RLS is fierce since I don't have any RLS meds. But, it is worth checking your iron it does help some people.
Also all of the traditional sleep stuff supposedly helps according to my sleep doctor so no caffeine 12 hrs before bed, antihistamines in the morning instead of before bed, etc. None of it's mattered for me, but might help you.