Generally, after 2 years, you are about as complete in healing as mother nature allows. Your irritable numbness in your foot is probably irreversible but can still change over time. It does not seem like you have CRPS which can rarely occur in poorly healed radiculopathy.
If you had axonotomesis, the residual symptoms do match what would be expected. The upper portion of the root healed but the lower portion remains damaged and “numb”. You could still try an epidural injection around the root to see if there still could be some help with an anti-inflammatory.
Donald Corenman, MD, DC is a highly-regarded spine surgeon, considered an expert in the area of neck and back pain. Trained as both a Medical Doctor and Doctor of Chiropractic, Dr. Corenman earned academic appointments as Clinical Assistant Professor and Assistant Professor of Orthopaedic Surgery at the University of Colorado Health Sciences Center, and his research on spine surgery and rehabilitation has resulted in the publication of multiple peer-reviewed articles and two books.