Hello and welcome to ‘Ask A Doctor’ service. I have reviewed your query and here is my advice. A warm and “burning” sensation on the leg’s skin is often the sign of the common but serious vein problem “Venous Reflux.” Hot and burning leg skin is often uncomfortable, painful, and can negatively impact your quality of life. To determine if your warm leg skin sensation is from vein problems, the first step is to schedule a Consultation with the vein specialists in your area. Your Restless leg syndrome can produce tingling, burning, and aching, while resting . Restless leg syndrome is relatively common during pregnancy, especially in the second half of pregnancy but in my opinion this is not the cause of your actual problem. For this reason, my advice is to see a vein specialist to do a doppler ultrasound of the veins of the region where you feel warm,to confirm or exclude the problem of venous reflux. Hope this is helpful. Let me know i f i can assist you further.