Maybe you have a pinched nerve,but ,clinically,it looklike soft tissue injury in lower back area (L4/L5),which means inflammation tissue lead to right
leg pain and right foot
pain ,and this tissue also can stimulate nerves,then affect sensations of calf and back stiff ,etc
So physical examination of lower back is more important than MRI,It's hard to know inversion therapy works for you or not.
Good luck!