You are suffering from type 2 DM for past 2 years. Your present sugar levels are ok; HbA1c is mildly raised.
The complaints of burning sensations predominantly in the distal parts of the body (toes, legs and hands) along with numbness raise the possibility of involvement of peripheral nerves. However, it is unlikely to develop within 2 years of onset of DM and especially with good control of sugar. Therefore, other causes of nerve involvement need to be excluded. Hence, you need to consult a good neurologist. You have referred to financial constrains. There are Good Government run hospitals in most of the major cities in India and you can get a free consultation. In some hospitals, you can get some medicines free of cost too.
There is some indication that psychologically you are feeling a bit low at times especially during the burning sensations. It will not be a bad idea to consult a psychiatrist too.
Rest assured that your problem could be solved.