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Notes -
I don't know if we read a different edition or something, but I read Blindsight recently and IIRC it mentioned the sleepwalking thing a lot.
I'm probably misremembering. I think I've read the book at least 5 times, but the probably over a year ago.
The point still stands: we have limited insight into the actual degree of consciousness in a sleepwalking state. It's clearly abnormal, but our understanding of neuroscience can't confidently say that since the ability to form longterm memories is largely disabled, that means that consciousness, if present, can't be reported by the sleepwalker later (the same reason you start forgetting a dream as soon as you wake up).
If you've ever lucid dreamed (I haven't, sadly) then that demonstrates the ability to be aware and at least partially conscious during REM sleep. Sleepwalking is NREM behavior, sure, but it's not possible to say that the sleepwalker is entirely unconscious, we just don't know.
Even if they're performing complex motor behaviors, I strongly suspect that overall performance is hampered. They might (in rare cases), drive a car, but I doubt they drive as well as they would fully awake. I could be wrong, but without the ability to subject an active sleepwalker to a battery of cognitive tests, I'll stay here. It's a very tricky subject to study.
I've never lucid dreamed, but I do experience vivid dreams in a REM state and would describe it as a variation of consciousness. I usually forget my dreams, but immediately after waking I can typically remember the whole narrative experience of a dream, which felt real while I was in it. I tend to think of REM as a state of consciousness where sensory input is turned off, things that would set off "this isn't normal" alarms are somehow disabled, and conscious awareness is redirected to... randomness? emotionally unprocessed experiences? fears? Something like that.
With how vivid my dreams are I do experience them as places where I am making decisions, they're just decisions that are enthralled to the content of the dream. Lucid dreaming is the ability to know you're dreaming, and thus control the content of the dream to an extent.
I don't know how that lines up with current neuroscience, but that's my impression of how my own dreams work.
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