I too have this issue. It is such a strange thing for me, as I never even associated these sensitivities with anything. I used to refer to it as a bizarre claustrophobia of the feet type feeling. I clearly remember times when I have jumped out of bed to cut the bottoms of my pants off in order to find comfort when going to sleep at night.
I have always refused socks and when I absolutely had to, it took alot of mental prep. to do so. The first thing I do when I walk in the door is off with the shoes, socks, etc.
I also get this feeling when my feet are covered with blankets, etc. It seriously gives me a very anxious, suffocation-like feeling when my feet are covered.
It is very insane.
I clearly remember times when I would purposely test myself to see how much I could handle. I tried to play mind games with myself and attempt to avoid thoughts of how it felt etc.
These days I am a little better, but at times this still creeps up and I am nearly 30.
My 9 year old also struggles with a million sensory issues, but we haven't very much experience with any therapy for these issues. Perhaps you would benefit from reading The Out of Sync Child & The out of Sync Child has Fun.
Finally, best wishes. It is not easy, I know.
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