A DIY bicycle fitting will be likely be sufficient for anything but high performance riding. Follow several of the links to get different perspectives. I haven't screened enough of them to point you more specifically, especially as I can find no info from you as to whether you are riding downturn or upright bars. The former requires more attention to variables such as adjusting saddle fore-aft, distance to bars, bar width and shape. As to seat fore-aft you may find this interesting: https://www.google.com/search?q=knee...l+axle&ie=&oe= In addition to proper fitting and bent arms, hand numbness can be greatly decreased by padded grips or tape and especially by good gloves.

p.s. Some things often not noted: Saddle height can vary depending on one's foot position when pedaling. I pedal with my foot more level than most, so take a slightly lower saddle position than average. I also pedal with a flat back and am pretty flexible, which allows me a longer reach to the bars than someone who has a curved back. When I purchased my current bike I changed the saddle, pedals, stem and bars, all to customize the bike to my body and riding style. I'm especially happy with the bars (Ritchey Pro BioMax).