Yes, many of us have sensory and motor issues. I have hereditary sensorimotor neuropathy, with numb legs and hands as well as severe muscle weakness, but this has been progressing all my life and I am now 53.
This usually means that you have both small fiber and large fiber damage, the former governing sensation and the latter muscle weakness.
Right now I am on medication for pain and muscle spasms and spasticity. I have recently gotten AFO ( ankle foot orthotic ) leg braces which help with the instability in my legs.
No one can say how fast this will progress, generally it is a slow progression but there are exceptions.
Does anyone in your family have PN? Their symptoms may be milder than yours or have set in at a later age and still be related.