I've had similar sleep issues (except sleep paralysis), and have had similar success in reducing caffeine intake (zero calorie sodas for me) and making sure I don't eat at least a couple hours before bed.
That said, an unusual sleeping remedy I've adopted in the last year (we'll see how well it works this summer without AC) has made a significant impact in reducing my restlessness throughout the night; I use a 17lb weighted blanket doubled up and the extra pressure is great.
Also, apparently some people regulate their body temperature better with/without socks/clothes, which has also made a difference in the quality of my sleep. With socks, I'm cold and restless. Without, I'm toasty and sometimes even sweating a bit.