Wakes up crying 1 hour after going to bed???

Does anyone else's child wake up crying their eyes out about 1 hour after falling asleep at night??? And I mean he stirs and changes position like they do when they shift between sleep cycles, then starts absolutely wailing as if he's completely distraught about something. Sometimes I'm not even sure if he fully wakes up? He does this I would say like 70% of the time - not every night but multiple times a week. And he has been doing it since he was about 9 months old so over a year 😩 If we leave him he will just scream and fully wake up, then it would take us hours to get him back to sleep. We have to get to him quickly and pick him up, then he settles immediately back into a deep sleep, like someone has flicked a switch. Helppppppp