There are two named phenomena that seem to apply in your case: Wake-induced-lucid-dream (also known as
WILD), and astral projection (also known as
AP) from the waking state. The difference, or the lack of difference, between these two phenomena is hotly debated. Both are well-described in the pages of DreamViews, and you can read more about them here than you probably want to do.
There is a sub-forum for WILD:
https://www.dreamviews.com/wake-init...d-dreams-wild/
and we have a sub-forum for experiences "beyond dreaming", which is where a lot of AP discussion goes:
https://www.dreamviews.com/beyond-dreaming/
There is also the phenomenon of Out-of-body-exploration, also known as
OBE (sometimes OOBE). This is also discussed in "beyond dreaming", and many would argue that it is a form of AP.
Your description of the "physical" experience of transitioning is not unlike how I would describe my astral projections, but mine always happen from within a dream, during sleep.
Oh, and by the way: welcome to DreamViews!

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