Update: went out for an 18 mile ride today (felt pretty good but definitely tired me out). The best advice I have had in this thread is to flatten my back--I learned this in college but got lazy and forgot how important it is. When I do that it is much easy for my legs and core muscles to support my upper body. NOTE: My seat is nearly all the way forward. So if I move it back, I think it will be even easier for me to flatten my back.
Had a bit of numbness in my left hand fingers and none in my right. I think the silly pool noodles help, and getting some 5mm padded gloves will help- even more. Thanks for all the help!