I feel like I need to stretch my legs but can't get them to stretch enough. I've looked up RLS but the symptoms don't seem the same.

Do formal stretching. As we age, our tendons and ligaments get "stiffer" and have less water in them, requiring more consistent (and athletic-style) stretching. Restless legs are leg twiches and spasms that occur when people are asleep, actually affecting the quality and quantity of sleep, and potentially causing daytime drowsiness and even falling asleep at the wheel. See a fitness professional for stretching advice.