When I start to "feel" my hands I will often become aware that I'm tight on the grips. If I can lighten my grip on the bars and take the weight off my hands by engaging my core muscles, my hands feel good again.
Try using core muscles more and relax your upper body, including hands. It really doesn't take much muscle to work the throttle and clutch. There is a natural inclination to use hand tightness in challenging situations. Relaxation helps get through them much better. FWIW.
The Doc calls it arthralgia. I know about the too tight grip thing. That is easy enough to avoid if I think about it.