It’s called a hypnic jerk. It’s a fun little quirk left over from when our ancestors slept in trees.
Basically as your brain is falling asleep it goes through a checklist of things to do, one of them is to engage the “OH SHIT WE ARE FALLING OUT A TREE” alarm. Sometimes we fall asleep in a weird position and that accidentally causes a false positive to trip that alarm, which causes us to snap back awake.
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