I finally have been able to put a name on it. This horrible feeling I get when I first wake up either from a nap or in the morning, Sleep Inertia. You can read about it here:

Sleep inertia - Wikipedia

I've been asking and asking what this is and finally saw this on a tv show and looked it up because it sounded like what I get.

Now that I understand what it is I am sometimes better to deal with it.

Circadian rhythm sleep disorder - Wikipedia