For what it is worth, i did read of one chiropractor attribute the mysterious 'restless leg syndrome' to a tight psoas.
I've had symptoms before (as part of a package though),night-time , caused by tight hip muscles and quads. What is really causing it-- the reality behind maybe a less simple like you suggest.karmic baggage & current circumstances,emotional factors,energy imbalances,stress,lifestyle,diet etc. you seem to intuit very well that evrything we do,think breathe affects everything that follows hence.
I would suggest or look into an effective form of meditation practiced over the long-tem.i would do it in a seat first for a couple of months before movingi nto any sitting posture.the main thing is obviously your legs are comfortable(i.e not restless,otherwise you may get less than optimal results).And i would also use a proven technique and stick with it daily until you experience a shift.
Of course my advice could be redundant, but there's no harm offering it.All i have is my own experience, no one else's and what has seemed to help me.
You need to get your hands on yoga power tools to laser-burn away your karma as a first step, and then continue some more, combining other approaches in an integral manner.
Suffering is needless if we have the right or effective tools and the motivation to practice them.,very important-the biggest ingredient.
You need to affect your internal physiological responses and breed the cultivation of a subtle awarness of the mind-body-spirit matrix through penetrating allthe koshas through training and patient persitence practice. Most of this boils down to a love of God.Asana by itself is likely to fall short without combing them with other tools like pranayama.
In simple terms this probably mainly boils down to a love of God,and so a love of love,and a desire to reach the divine and penetrate the infinite.
when we surrender completely, ego,mind and all & previous samskaras,we can taste thee divine,and it is lush, like sweet nectar.