i am so sorry for the long post but i need help! when do i need to worry about my 4 year old sleep walking?

my little girl is 4 and for as long as i can remember she has sleep walked and done some pretty weird stuff in her sleep, she will sit up in bed with her eyes wide open just staring at the walls or she will sit up in her bed and just cry out, she will have a conversation with someone that isn’t there, she wanders around the house with her eyes wide open and just looks straight through you when you say her name! very often she will sleep walk into mine and her dads room and just stand at the side of our bed staring at us… but last night really FREAKED me out and worried me a bit😢 she started crying and moaning while i was sat downstairs so i went up to see what was wrong with her and she was nowhere to be seen in her bedroom, i just couldn’t find her anywhere, she wasn’t laid in her bed, she wasn’t sat/laid on the floor and she wasn’t just stood there staring at you like she usually does, all of a sudden i hear this little voice saying ‘my mum’ while i was in her room, i quickly turned the bedroom light on to try and find her and there she was sat up in her wardrobe with her eyes wide open just staring at the back of her wardrobe, i said her name and asked her if she was okay and again she just looked straight through me and never said a word, i picked her up as slowly and as carefully as i could to avoid startling her, laid her back in her bed and as soon as she laid down she closed her eyes and just went straight back to sleep and didn’t wake up till this morning!!

now when do i need to worry about these sleep walking episodes and who do i need to contact for advice on the situation as i am just beside myself with worry about what could happen next☹️