7-month-old has very restless/light sleep between cycles for months — anyone else?

My almost 7-month-old has been a very restless sleeper for months, basically since the 4-month sleep regression, and I’m wondering if anyone has experienced something similar.
She falls asleep independently without any issues and can sleep long stretches. The problem is that between sleep cycles she seems to “surface” a lot. She starts tossing and turning, rolls onto her stomach, lifts her head and drops it back down like she desperately wants to sleep but can’t fully settle. Sometimes she stays asleep, but often she eventually wakes up crying and needs her pacifier or some help settling.
It’s much worse in the second half of the night/early morning. I usually end up bringing her into bed with me, and even then I can physically feel her tossing and turning in her sleep. The difference is that next to me she usually doesn’t fully wake up.
This has been going on for months. It started before she learned to roll/crawl/sit, so I don’t think milestones are the original cause, although rolling definitely makes it worse now.
We’ve experimented a lot with wake windows, daytime sleep, 3 naps vs. starting the transition to 2, feeding, etc. She no longer feeds overnight, and even after what seems like a perfectly balanced day, the restless sleep is still there. No signs of reflux or itching, and bloodwork didn’t show iron deficiency. She’s otherwise healthy, happy and developing normally.
At this point I’m wondering whether she’s simply a naturally light/active sleeper who has very pronounced partial arousals between cycles.
Did anyone have a baby like this? Did they eventually grow out of it, and if so, when did you notice things getting better?