go to a doc. chances are they will make you do a couple of strength test and offer you a steroid shot.

i have impingement injury in both shoulders. my docs dont want to go any further than that.

How much cycling have you been doing?

In 2015, I had to give up cycling for a year to get my shoulders back into shape. The bone in one was 4 degrees out of the socket. Physical therapy and anti-inflammatory drugs.

Sounds like they may need to just lop that arm off. Not.

My wife has the same pain in the shoulders, right side last year, left side this year.
Impingement/frozen sholder.
Last year she had medical flossing therapy for the right side, that helped to some degree.
Has had a lot of training and therapy now for the left side. Does not help.
She cannot sleep at night because of the pain.

How did you solve that?

This was my experience. I went through PT and it didn't help. Had to go through a manipulation and got some range of movement back with PT. My surgeon wasn't happy with the progress and did another manipulation followed by grueling PT.

I've had my shoulder worked on, and have something like you describe when I sleep on it wrong. Usually clears up in 3-4 days.
Might benefit from strengthening exercises as mentioned. A towel and one of those rubber bands work wonders.