I recommend seeing a neurologist. That’s how I knew for sure that I had neurogenic bladder. I mean, I fell off a cliff and started wetting the bed, so that was a pretty obvious connection. But my back and brain doctors sealed the diagnosis once they had MRIs - more so than did my urologist finalize my diagnosis. I think that’s exactly what your neurologist will recommend. Your first appointment will probably go something like this: you walk in the door and fill out tons of paperwork. You finally get in to see the neurologist after he’s running late, and the first thing he says is you need an MRI, and next he says you’ll have to come back again after the MRI. You would think they would order the MRI to begin with, before your appointment!
I do recommend being careful with a numb foot/leg. I’m sitting here with a foot broken in four places because I didn’t take sciatica seriously. I have to be non-weight-bearing for at least another two months. I live alone and it really sucks to be non-weight-wearing. So be extra careful not to trip or fall because the danger is real. If your foot is numb, there is no way a chiropractor will help you. It’s long been proven that all the cracking they do just causes osteoarthritis and nerve damage. I guess maybe everything is worth trying once, though.
As for those medications you were prescribed, I have not taken them. They are likely worth trying. Wouldn’t it be great if they can help you? There are many people here on the forum who are helped by the bladder medications.