Hi Jenelle....
(I have RSD in my tummy and legs)
Carrie gave you some great suggestions on the stiffness part.
I too sleep with a body pillow.

Swelling-- my legs are far worse in the heat (vs cold) and, ironically the only thing that has really helped is walking. Lots and Lots of walking. I found that out when I lived overseas, didn't have a car and had to walk everywhere. Makes the pain worse, so it is kind of a catch 22, but.....

As for the hypersensitivity -- I have Sensory Processing Disorder, with severe tactile defensiveness, not really related so much to the RSD, but ALL my limbs/body are hypersentive to touch/fabrics, etc. I was in Occupational Therapy for 10 months for SPD and my OT gave me some great techniques to help with that. There is a special brushing program you can be taught to do, by a certified Occupational Therapist so Occupational Therapy might be something to consider.

Hang in there !

L2L