Something similar to OP happened to me when I was a kid.
I was about 10 years old, we were on a roadtrip and my parents met some friends; a couple, married with 3 children, a boy of my age, an older girl and a baby. Well, we were invited to sleep at their home, it was quite big and somewhat cold.
They sent my sister and me to sleep in the baby's room, there was a large bed along the baby's crib. I was about to fall asleep when suddenly I heard a loud noise, someone had slammed the front door. I got scared because 6 months ago I had witnessed an assault, which left me with some traumas and fears.
My heart was beating loudly, I thought some adult would check what was that sound but I didn't hear anything, suddenly I heard steps approaching us, very slow and strong steps, I could hear the wood of the floor crunch, and then I hear how someone slowly opens our door and enters, I closed my eyes. I was paralyzed, I could not move, it felt exactly like sleep paralysis, unable to move and that something oppresses your chest. I was so scared, I thought I was going to die and was saying goodbye to my family and friends, I felt so much anxiety that even just remembering it I can feel it again, it was horrible.
I don't know how much time passed, maybe 30 minutes, when I took courage and decided to open my eyes a little, and there it was, a person in front of us, next to the baby's crib. I felt helpless, terrified, in shock, I didn't know what was happening! 1 or 2 hours passed, and that person was still in front of us, I thought well, this it, goodbye world..
And then, I fell asleep, when I woke up it was already morning and the figure was not there, neither my sister, I expected the worse, I was still paralyzed by the fear and then, I heard footsteps approaching again the room; suddenly I heard my mom's voice saying good morning and asking if I wanted french toast for breakfast, I felt peace and liberation when I heard my mom's voice, I could finally move again, I went to the bathroom and cried silently for 10 minutes and went down to eat breakfast.
Years passed and I told my mother what happened to me, she told me that probably the person I saw was the wife of my dad's friend because she suffers from sleepwalking and I made a face like WHAAAT?? it was her??! WTF !! I also got angry because it seemed my mother didn't care, I think she supposed it was just a child scare, but oh no quite the contrary, I was sure that I was going to die that night ...