I took a nap today that was very short. I set the alarm for around 35 minutes. And I didn't doze off at all till there was 15 minutes left. But then, I think, I did doze off. And was rudely awakened by a ring tone I wasn't expecting. My normal one must not be the default. But I got up and felt well rested.
Yesterday I took an even shorter nap. I surely must have dozed off for only a couple minutes. Because the dog was barking and someone was knocking at the door. And I know it was just minutes before, maybe 10 minutes, that I lay down.
Yet I woke up, answered the door, and felt rested enough for the rest of the day. Just one or two minutes of that confused stuff right before full sleep.