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I use Withings Steel HR and Sleep Cycle on an iPhone. Both provide useful information but neither is perfect and often conflict. I think a lot of this is due to a 4 year old that my wife and I have been unable to get to sleep in his own bed. https://www.marksdailyapple.com/should-you-track-sleep/ is a good article with recent data on accuracy of a variety of devices.

Realized I did not answer all of your points but neither tracks leg movements that I'm aware of but like another post mentions sleep cycle might monitor through sound. Biggest reasons I've chosen these are I have my iphone on charge and airplane mode and the Withings battery life is between 2-4 weeks.

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