You might want to consider seeing a regular doctor to rule things out.
I wish I knew how to fix waking up panicked. For myself, I have been sleeping so peaceful, I don't sleep any longer, 3-5 hours on a good night but I so often wake up extremely anxious.
There are supplements that are supposed to help you sleep and have a calm sleep. Maybe something like that?
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MDD with Psychotic Features, Dysthymia, GAD, Cluster C personality traits - Not taking any meds