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Is what my dog doing while asleep normal or should I worry?
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Sounds perfectly normal, dogs do dream, and react physically to it. Heavy breathing, legs twitching, even some running motions, sometimes a snarl or bark (those sometimes wake them up), etc.
Unless he's actually having a seizure (eyes rolling into the back of his skull, massively salivating/foaming), I don't see a reason to worry.