Panic during sleep?

Ok so I experience this almost nightly, but I’ll be dead asleep and wake up feeling like I’m having a panic attack or something. The thing is, I don’t completely wake up for it so I don’t know if I’m just imagining it. I wake up feeling like my heart is gonna beat out of my chest. I tried checking my pulse but I couldn’t keep track of it bc I was still in a state of sleep. Also this was the first time this had happened but last night I hallucinated there was a bug on me, I feel like I tried to slap it off but can’t remember if I imagined it. I just don’t understand how I can be having panic symptoms and still be completely asleep.

Has anyone else experienced this or know what it’s called?

Idk if my ptsd has anything to do with this