I took the lower dose for about a year and have been on the higher dose for a few months.

I have (a semi-systemic investigation) found that taking half in the morning on an empty stomach and the other half in the late afternoon, also on an empty stomach works well for me.

Here is a link which discusses what is known about the effects of taurine on inflammation Taurine and inflammatory diseases.

Your sensations of "numbness, burning and severe stiffness feeling in both feet" might have an inflammatory component. You could consider trying a relatively high dose of taurine to manage these.