I had this same issue for years, had seen doctors and a psychologist. Was tested and learned I had ADHD. Meds, coping strategies and general self-awareness helped in a big way.

But I also had this specific issue on certain days lingering even with ADHD treatment. My doctor suggested I had sleep apnea. Possibly related to sleep habits and possibly a very soft lumpy mattress. My wife and I got a new firm mattress and it really did the trick.