You definitely had a FA.It happened to me twice before I realized what was going on.I would have a lucid then wake up(FA) and try to DEILD.But then my hands would move without me doing anything.The third time this happened I became lucid though :D
As for the numbness in some of my short lucids I felt as if I were really drunk and in another I barely managed to fully open my eyes...I still don't know what to do about it....:?