The sounds you mentioned hearing when you're waking up can be a state every human goes through when waking up. It's the transition from sleep to consciousness. It's not uncommon for people to hallucinate or hear things or even feel things that you realize later weren't there. The sleepwalking issue doesn't sound good. I'd talk to a doctor about it. It could be result of an issue on your mind that only your subconscious is aware of. Since it's a fairly recent development take action now because I personally wouldn't want to have that issue become worse(like waking up in the middle of a road). Doctors know what they're doing and maybe a therapist could help you too. Good luck.