nighttime knee and ankle aches

For the last few months I've been having aches/cramping almost every evening in both knees and ankles. Typically because of it I can't keep my legs still, I am always moving them. I only notice it in the evening, it's not painful, just uncomfortable. Any preliminary thoughts before I head to the doctor? Thanks.
 
Agreed, I suffer from Restless Legs - for past 8 years.... extremely annoying. I do have meds - and only need to take once in awhile. Sometimes a hot bath will help settle.
 
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