Numbness in arm and foot can come to due to various problem like at cervical and lumbar spine level, it can also be there due to problem with vitamin b deficiency, less water intake, and peripheral nerve issues. Here you have also mention you had done MRI 6 years back and there was mild issue showing in brain. Even that could also cause numbness. But along with this if your speech and vision is also affected as well if you feel the strength with your either upper limb ( arm and hand ) or lower limb ( thigh and legs) is also not normal then I suggest to visit a neuro physician for examination and here he may ask you to go ahead with few tests. Now based on test report he will suggest you few medication and physiotherapy treatment to control the symptoms. Physio will suggest for some exercises like stretching and strengthening for spine as well upper limb and lower limb along with postural correction. You can also use hot and cold pack to painful soft tissues. Here you need to understand there is no cure for ms but the symptomatic treatment with few medication and physiotherapy can slow down the progress as well if first time if it goes may or may not have relapse after it. Based your symptoms it looks like starting stage of ms but how ever conformation will be done only after few test and check up by neuro physician. I can just suggest either its ms or not. There is treatment available for it to reduce the symptoms and to reduce the progression of condition but you need to follow it step by step properly and do the needful. And yes do not delay the treatment because it may worsen your condition. I am sure this will be helpful if you follow step by step Take care.