If the only time you see it happening is when he's falling asleep, I'd think it was the beginning of dreaming.
Check the balance, hold paws to check for tremors, and holding his face still, watch his eyes to see if they flicker(not him looking around, but a very distinct fast flickering that doesn't stop) side to side.
If there's no other symptoms, I wouldn't worry about a few paw twitches, but taking him to the vet for full tests is always an option.
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