I've struggled with twitching as well. It sounds like you have restless leg syndrome and possibly an electrolyte imbalance. I have struggled with both of these at various times in my life but found through diet and lifestyle changes they can be controlled and brought into remission. I don't want to get into a medical discussion, but just wanted to note that. That being said, there is a misconception that you can't WILD without being perfectly still. FILD is really just a WILD that uses finger movement as an anchor. If I remember correctly there is something specific in regards to the part of the brain that is stimulated when you move your fingers during FILD, although I imagine the same would apply to your toes. While I am not sure if you can be move every second during WILD style inductions, you certainly don't have to lie frozen still. You can continue moving as you need to so that you remain comfortable. Look up Mzzch's sticky post for a good explanation of this.
WILD is all about anchoring and getting as comfortable as possible. If moving allows you to come more comfortable, then it is a necessary part of "your" WILD strategy. FILD must obey the same principles as any other WILD technique. In other words it's not that you can move more during a FILD than any other WILD style technique, it's just that your focus is different. Also bear in mind that with FILD you are "barely" moving your fingers.
I think WILDs will likely be more challenging for you, but if you just focus on falling asleep and don't think about the movement you need to remain comfortable and instead just focus on retaining awareness by using an anchor, you should hopefully find success. In other words...just focus on falling asleep like you normally do. Don't think about your movement at all. Just move as you normally do. Again Mzzch's post explains all of this.
I wouldn't recommend WILD for beginners. I am not sure if your lucid count is up to date, but if you are just starting off WILD can be very alluding. You might want to check out my recent post that talks about the phase technique:
http://www.dreamviews.com/induction-...w-me-away.html
This is more of a DEILD technique but it produces the exact same experience as a WILD. It is much easier since you are already totally relaxed. Other than that, you might consider the OBE timer technique from lucidology which uses a similar principle and again doesn't require you to go through a relaxation process.
Other than that you might experiment with shorter awake times before going into the WILD process since your body will tend to be less restless. Also consider avoiding caffeine, grains, and stimulants of any kind.