Does anyone get unwanted impulses?

I don't get it all of the time, and not with family members, but with others I might have a bit of social anxiety with -- the public -- I get worried I would do something outrageous and "mental" such as spit on someone or ranting out loud or something. Which the fear of doing so then causes a little anxiety. Like tonight at the movie theatre, there were only about 10 people, I had those two impulses.

I can control my impulses so I don't think I have Impulse Control Disorder (just read about that.) But the impulses are there and are unwanted. I wonder if it's the Abilify or just another part of having BP as I don't remember having them earlier in life, not even during most of my years diagnosed with BP. The Wikipedia page on ICD does mention it can be comorbid with mood disorders (among other disorders.)

Other impulses I have which may be more common are the impulse to drive the car off a cliff or some high bridge or something. I have had that impulse for quite some time, like for 27 years, and way before any psychiatric diagnosis.