I have taken Abilify for a couple of years now. My cycles are less pronounced, but they are still here. So far its the best medication for me. I have restless limbs also, but not very often and it mostly occurred when I was also on adderall. Abilify doesn't agree with everyone, but for me, it has been a life saver. Med changes are rough, I say give the Abilify a chance (a few weeks) and good luck to you.