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I've had vertigo before. I've had it while working under cars, like you describe, where you are laying on your back, moving your head at different angles, you hit a certain angle and the very mild dizziness/spinning starts.
I also had a really bad one one night, I suddenly woke up, the room was spinning hard! Tried to stand up, barely could, it was spinning so bad. Nothing would make it stop. That really caught me off guard, my wife drove me to the hospital at 2 am for that one. I had no idea what it was, and figured I was having a stroke or some other brain issue.
For me, it seems like it is somewhat stress related. These happened in years when I had a lot more work stress.
I take an over the counter motion sickness drug called Bonine on the rare occasions that I feel it coming on, and it solves it.
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