Go through these in order and stop at the first one that applies. If you are reading this for someone else, answer for them.
Call emergency services for chest pain, severe difficulty breathing, sudden one-sided weakness, or thoughts of immediate self-harm.
These symptoms are not expected features of RLS and need emergency care.
Contact a clinician promptly if treatment causes severe sleepiness, confusion, falls, compulsive behaviour, or a clear pattern of symptoms starting earlier and becoming stronger.
Seek urgent assessment for symptoms that are not typical of RLS, such as a suddenly swollen, red, painful leg or new weakness and loss of sensation.
And for anyone, someone who:
Arrange a routine appointment if the urge to move your legs repeatedly disrupts sleep, affects daytime functioning, or is becoming more frequent.
Assessment is also appropriate during pregnancy, after a medicine change, or if you may have iron loss.
The article also says
RLS itself is not usually an emergency.
Every sign above is quoted from the sofidex article on Restless legs syndrome. If you are not sure, err upward — it is always reasonable to be checked.