I have also had RLS since I was in my mid teens. I didn't know what it was, but it always happened late at night, or when I had been riding in a car a long time, and it was also late at night. For years I dealt with it by stomping my feet, stretching the muscles, and trying to get to sleep before it got to a disturbing level. When I was in the car, I found that if I put a folded blanket under my thighs so my feet dangled, it would stop. I think it was the pressure or something.
I drink a moderate amount of coffee, no soda. It was worse when I would drink lots of coffee. Lately, it hardly bothers me at all. Things that have changed in my life.... I eat red meat only about 5 times a year. I no longer drink milk. (still eat cheese, yogurt, etc.) I am early perimenopausal (48 years old).
If I was still bothered as much as when I was younger, I would try the meds. Funny, when those ads came out, my ex called me to say, "You know that problem you have with you legs? They have a drug for it now."