I used to get sleep paralysis in my teens; it was extremely scary the first few times but when I understood what it was it just became annoying. My mind would wake up almost immediately but it did take significant mental effort to regain feelings.

In my early twenties I experimented with lucid dreaming for a bit; since then I never had sleep paralysis episodes but I do not know if it is connected; it is entirely possible that getting older awareness is just suppressed more while sleeping (apparently you dream less as you get older).