I have experienced what you describe, often. As Elysium said, it sounds like dissociation. That feeling like you are a passenger in your body, oh, that's really rough. I have it happen a lot and it still weirds me out.

Dissociation is a reaction we developed to keep ourselves safe when everything around us was dangerous. It was a brilliant way to cope with overwhelming circumstances. Unfortunately, it can persist in the present and cause distress when we want to be connected and aware.

You're not alone.