You probably have Cauda Equina Syndrome (CES)
It might be better if you could see a Neuro-Urologist.
and if s/he is not familiar with CES, ask him/her to check the
"Algorithm for Suspected Cauda Equina Syndrome".
It is a fairly rare condition, which usually has to do with with nerve damage or
compression at the L4-L5 or L5-S1 , likely following an injury from a fall, accident, etc.
Hello~I strongly suggest seeing a chiropractor. You more than likely have misplaced vertebrae in your mid to lower back and this will definitely cause the exact symptoms you are describing. Once you have a few adjustments and the misalignments are fixed, these issues should stop or at least be a lot better.