What kind of pedals/cleats are you using? I used to get a lot of foot numbness (aka hotfoot) when I was using SPDs. I switched to Look earlier this season. They have a much larger cleat that helps distribute pressure over a wider area of your foot. Since switching, I've had zero numbness even on 3+ hour rides. I'm not sure if this is what's happening to you, but maybe!
As far as hands go, the only thing that ever helps me is changing hand position every once in a while.
"By perseverance the snail reached the ark."