It sounds neurological.

Wondering if you've ever had a sleep study.

I have had RLS on and off most of my life since I was a young teen.
I've also had panic attacks that woke me from sleep and that was pretty terrifying.
Both have disappeared in more recent times thank goodness.

The 'starts' that you've described sound like myoclonic jerks.

I'm wondering if all these issues are occurring since starting a new medication or did they happen prior to taking any medications?

p.s. forgot to ask.
Do you have Diabetes?
How is your Thyroid function?