I too have to jerk myself awake. My only movement is the tips of my fingers and breathing. I force my fingers to move gradually more and more until I wake. I too feel the presence of others. Sometimes one, sometimes a room full.
Sounds are as real as life itself and the pain excruciating.
My only combat is clockwork sleep patterns. An afternoon nap is a certain trigger. Although surprised I have suffered no apparent damage after all these years. If you don't feel any pain or stresses then I think you'll be fine.