As others have explained, waking up at the wrong point in a sleep cycle feels crappy. But also as the night turns to morning, your sleep cycles change and sleep becomes lighter - waking up is a process, not a moment. So get up when you wake up naturally and you should be good, but also keeping to a schedule helps, so if you are naturally waking up at 7am or whatever, going past that time can interfere with, well, falling awake.

I get you though - so often I feel like sleep is so close by I just want to go back.

My husband handles this with coffee, he gets up, makes coffee, drinks it in bed (while I sleep through all this) and then either feels awake, or, if he does go back to sleep the caffeine helps him wake back up, like a coffee nap. I can’t do that, prefer to wake up then coffee a few hours later, but it works for him.