If you mean 'jump' like you were startled by something, then yes, I have experienced that. It's quite common whether you are autistic or not. It tends to happen when your brain is on the edge between awake and asleep - just like the total relaxation on your bed that you described.
It known as a "hypnagogic jerk" or "hypnic jerk", and no-one really knows why it happens (or why it has such a silly sounding name!). I get it a few times a week. At that half-asleep, half-awake time your brain can also do other odd things - I get something that they call "exploding head syndrome". Sounds ridiculous I know, but it's as if you are just lying there and there is a suddenly a huge "BANG" inside your head - louder than any real sound could possibly be.
Unless they are stopping you from getting to sleep many nights, these things are nothing to worry about, and they're not usually symptoms of anything more serious.
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