Hi Kate!! Definitely just let her go if she's still asleep!! Coco does the same and I count my blessings the times that she resettles herself, or doesn't wake up at all. As you know,, we don't have that that often!!
Babies can have night terrors, not sure when they start, but could be that. I wouldn't be too worried, especially if it's not waking her!!
oxxoxo