@notborntoburn If you won't be doing a lot of the driving, would your feet be more comfortable between walking stints, to not have shoes on? Then you could perhaps move your toes, or stretch your feet, or gently rub them if that would bring any relief? I tend to get bad cramps in my feet on a long ride, and found just wearing socks helps somewhat. Of course, then my feet complain when the shoes go on....
Ginger