This happens to me almost every night. Usually while coming out of sleep, but sometimes while I'm still trying to fall asleep. It used to only happen when I was stressed about work, but once I had a kid it became very frequent.

I hear/see the door open, hear my son's door open, see giant spiders on the wall, hear someone rummaging through the fridge, hear my son screaming, etc. If I get up to check it's always nothing.