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Is what my dog doing while asleep normal or should I worry?
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Every dog I've ever had (four now) has gently woofed in their sleep, twitched their legs, made little hooting or cooing noises, and all other manner of sleep talking. I even remember a couple times where dogs growled in their sleep. Dogs have pretty active minds when they're awake, and so it's no surprise that their dreams are lively too.
If your dog sounds like they are in distress, they might be having a bad dream. In that case you can gently wake them with a soft touch on the back and quietly saying their name. They usually will fall back to sleep pretty quickly. It would only become an issue if it happens with such frequency and intensity that they aren't getting enough restful sleep over a couple of days.