Should I see a doctor about my fingers going numb?

About 2 weeks ago I slept on my hand awkwardly and when I woke up my entire hand was numb. Since then three fingers on my right hand seem to go numb quite often. I notice it most when I am moving my arm at the elbow. It’s not getting better or worse.

This happened to one of my toes about a year ago and I waited about 6 months and the numbness went away. I’ve recently had blood tests and my glucose levels are fine as is my blood pressure. Do I really need to see a doctor or is it just something that will go away, like what happened with my toe?