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Is what my dog doing while asleep normal or should I worry?
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Twitching while sleeping is not a bad thing afaik. If I understand correctly it just means they're trying to run/move in their dreams which likely corresponds to a fun dream! E.g. they'll be running or playing in their dream. My dog used to do it and my cat does it too.
https://www.petmd.com/dog/general-health/why-do-dogs-twitch-their-sleep
It seems like you can tell dream twitching apart from seizures by seeing if their limbs go stiff or the twitching goes on for a long time.