Your description sounds like peripheral neuropathy, which can be caused by B12 deficiency. It's cheap/easy to do a trial of B12 (1000 mcg/day of methylcobalamin) to see if it helps. There's a blood test, but the reference range is too wide and it's not useful if you're already taking B12. It should be over 500 pg/ml if you're not taking B12. If you're taking B12 is should be higher.
Several common medicines lower B12 - metformin, PPIs, H2 blockers, etc.
Another possibility is B6. B6 helps with carpal tunnel, also. Again, cheap to do a trial to see if that helps. It's probably a good idea to take a multi-B formula, since the B vitamins work best together.
A little more on polyneruopathy. (peripheral), being the extremities. Commonly attributed to diabetes, but not necessarily.
For me, back in 2107, wrongly diagnosed as carpal tunnel, meaning an operation. No help at all. Dr.s' wanted to atribute it to diabetes, but not the case for me.
So today... little to no feeling in the finger tips, both hands, and no sense of temperature, so I have to be careful. Typing is difficult, as it's easy to hit two keys or the wrong key. Takes twice as long as before. A common aside to this is "trigger finger".
I don't know of a cure, but the loss of the sense of touch, and yes... the pins and needles is another nuisance. I take Gabapentin which helps alleviate this.
The good part... for me at least, was that the onset lasted for 12 years, and I've gotten used to it, and it never went into my feet. If that's the worst of being 84, it's all riight with me.
One more thing. While in bed, flattening the hands between pillows tend to help the natural tendency for hands to curl up ... associated with age.
If there's bright side to all of this, it's that it is not termnal.
Good luck!