I have had this occurrence at various times in my life, the first time was as a child. The toe wiggling works and was how I was able to wake myself the first time it happened. It's like once your leg feels your toes or ankle wiggling then your leg is able to follow and shake you awake. It takes concentration though.
I have been able to just go back to sleep. You are usually afraid when it happens that you MUST wake up but if you can calm down and release back into full sleep then you will wake up later feeling fine. But if the covers are on my head or if I am in a certain position then I feel I have to wake up NOW and the wiggle foot does the trick although sometimes it take some effort to get it going.
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