I keep getting the sensation of needle pricks and numbness on the soles of my feet..pinched nerve?

Maybe: There are a few things to consider initially. A "pinched nerve" is one. Neuropathy from things like diabetes (or pre-diabetes), alcohol & a few other conditions could be an issue. You might have a foot problem such as a morton's neuroma or plantar fasciitis (which is often painful). This is a partial list; a good history, exam & possibly some testing could narrow things down & give some direction.

Yes: It sounds like you have peripheral neuropathy. There are many underlying causes of peripheral neuropathy. Your first step should be to see a neurologist or a podiatrist to identify the cause of your neuropathy.