I'm 39 weeks pregnant and my feet and hands are swelling. Is there any food to avoid/can trigger the swelling of my feet and numbness of my hands?

Not really. Edema is not unusual in advanced pregnancy and may be related to hormonal effects. Unless you are hypertensive there is no reason to change your diet; mention this to your obstetrician, as all you need at this point is an excuse to deliver. Good luck!
Try to avoid... Foods with "added" salts. Keep exercising and continue to do the things you need to do until your bundle is delivered! the numbness in the hands may be from excessive fluid retention as you are close to gestational birth. Another doctor may have a better opinion than i here.