Loss of sensation in foot after falling asleep

Hi, the other day (3 or 4 days ago) I was working on my motorcycle in a crouched position (on my toes) for an extended period of time and my left foot fell asleep. Now I still don't have full sensation in my left foot (specifically the top of my left foot) and a bit around the back of my lower leg.

Also, later that day I was playing soccer and kicked the ball pretty hard on the wrong part of the same foot (my toes) causing my foot to hyper-extend (toes down) causing pain....however I noticed the loss of feeling start before I played soccer.

Will this heal by itself?