Yeah, the sleepwalker/sleeptalker is usually the last to know! My father never remembered his episodes, but couldn't deny the evidence sometimes left behind. Sometimes sleep activity can be a REM behavior disorder.
During sleep everyone should have several sleep cycles with the right proportion of each sleep stage. If those are disrupted or disproportionate, sleep will not result in feeling rested and rejuvenated. Sometimes sleepwalking in seen with other sleep disorders, like sleep apnea, where the sensations of not breathing disturb the sleep but not to full wakefulness. There are many dozens of identified sleep disorders. Considering you have reduced sleep, daytime sleepiness/tiredness, and sleep activity, seems to me a sleep study might be helpful in identifying any specific treatable issues.
forgot to add also, my wife says that when i sleep i yell. She cant make out what im yelling but that i yell. She claims that there are times that i sleep walk and she will talk to me and i take a while to respond. She says that i wont look at anything but that i will look to where im going. One day she said that she just listened to me and said ok hunny and rubbed my head and walked me back to bed. I feel nuts because i dont believe her and i dont recall it at all.