This may sound 'bonkers' (ie crazy) but I've found that wearing very flat shoes - without a heel - also helps a little (for driving, not walking). And for good measure I remove my left shoe whilst driving as the left foot is not needed for driving an automatic if you drive on the right, as we do here. Every so often I 'wiggle' my toes, do 'pressing/stretching' actions with my foot. All of this seems to give me a small but still welcome easing of the numbness

I know what you're thinking. Taking off a shoe in a semi-public place. What about the driver's 'personal hygiene' & its impact on others in the car? No worries - I wash my feet every month, whether they need it or not