I found this paper that lists massage, cold soaks, chiropractor-delivered therapy, or acupuncture for this condition (see paragraph regarding pain treatment) but gives little further information:
Hassan, A., Mateen, F. J., Coon, E. A., & Ahlskog, J. E. (2012). Painful legs and moving toes syndrome: a 76-patient case series. Archives of neurology, 69(8), 1032-1038.