Can Leg Lipomas Affect Nerves And Cause Numbness And Pain?

Hello, I am 29 years old and have been told by several doctors including a specialist that I have several lipomas (lypomas) in my legs and one arm. I was told they are not harmful to leave them or if I want they can be remove. I have one lipoma about 5 cm that is in the back of my upper thigh and lately I feel some discomfort in my whole leg. The pain is not very strong but i feel some kind of numbness on the upper an lower leg and foot. This happened about two years ago but i was given some pain killers and it stopped but now its happening again. Back then I was taken X-rays and also MRI and showed everything normal. I am not a doctor but I think that it might be the large lipoma affecting a nerve but was told by the doctor its very rare. Now I am concerned. Can a lipoma cause pain like described above?