Hello @jinxedroot93, Welcome to Connect. I have numbness from my idiopathic small fiber PN but so far it has not bothered my ability to drive. That is also one of my major concerns. I think each of us is a little different and may not quite experience the numbness the same way. I have been taking supplements since 2016 which I think are helping me. You can read my story in another discussion here - https://connect.mayoclinic.org/comment/310341/. Other members have mentioned deep tissue massage, stretching and other techniques have helped some with the numbness. You might find the following discussion helpful:

Anyone use a device to allow driving without foot pedals?: https://connect.mayoclinic.org/discussion/device-to-allow-driving-wo-using-foot-pedals/

I would be irritated to say the least if my doctor brushed me off the way your doctor did. The Foundation for Peripheral Neuropathy has Find a doctor page and lists 4 different ones including one from MUSC (hope it's not your doctor!).
-- https://www.foundationforpn.org/support/find-a-doctor/

The link above also has some complementary and integrative treatments that may help with your symptoms. Have you tried any other type treatments?