i don´t know how to stop waking up in the middle of the night

for 2 years straight (well, mostly) i have not been able to have a full restoring night of sleep, despite following a sleep hygiene routine, i wake up every single day on the same time, i avoid screens and artificial light (the best i can) 2 hours before bed, i don´t use my bed for other things, i go for a walk in the morning to get sunlight, i wear a sleeping mask to avoid light and yet i always wake up in the middle of the night.

it´s always the same, around 10:30 or 11:00 pm i start getting physically tired but my mind is still active (i have ADHD/ASD) so i don´t feel like readinf/journaling anymore and hit the sheets, i actually manages to sleep fast, but my mind is still super agitated, i can never tell if i´m dreaming, remembering or thinking about something, it´s a really weird limbo esque mental state, i also keep rolling around a lot in bed, and then i realise "yeah i´m awake", i get out of bed and go to my living room where i mediatet for a while, and after a while i go back to my bed and i need to actually put in some work to stay montionless and to not think about anything and just meditate/focus on my breathing, and that´s when i usually get most of my sleep from/ am able to get into deep REM state, only for my alarm clock to ring a few hours later.

i´m tired man, every single day i need to do a lot of stuff while running on half my batteries, i used to be a way more productive, organised and disciplined person than i am as of right now, i don´t want to keep living like this anymore, already tried CBT, taking melatonin, etc nothing works...