Hello kotaha14: I'm sorry you are having these disturbing experiences.

Well... this experience is very familiar to the Skeezyks.

I have a small dog I walk every day. And I often have an almost uncontrollable urge to jump out in front of speeding trucks, buses, etc.

For many years, I have also experienced nearly irresistible urges to jump from high places. I still recall being on an open viewing platform of a tall building where I live quite a few years ago & looking down wanting to jump! I can still visualize it & feel the urge to this day.
I don't know where this comes from.

I like to read about current brain research findings. And one thing I have read is that much more of who we are, & what we do, is controlled by areas of the brain to which we have no conscious access than we would typically imagine. So my thinking is that, in my case, perhaps there is something stored in non-conscious areas of my brain that causes me to have these urges. Perhaps something of this sort is the case with you too. At least that's my theory.

Unfortunately, how one resolves the problem is another matter. I haven't tried to do anything about it.

I simply accept that it is an experience I will have & I strive to let it go. I don't know if something like hypnosis would be beneficial in a situation like this. It's a conundrum.