Is it anxiety when you wake up with a racing heart, shaking, dry reaching and just feeling of being all churned up?

It could be: See you doctor to rule out physical causes. If there are none, then see a psychiatrist and a therapist to get your symptoms under control.

Could be!: It's certainly possible, and is worth checking with your family physician or internist. If he or she then recommends you follow up with a consultation with a psychiatrist, i would do so. The need for a thorough medical exam is why these symptoms need to be fully evaluated by your physician first. They may be symptoms of other conditions entirely.

Possibly: That may well be anxiety/ panic from a nightmare. The only way to know for sure (vice a medical issue) is with a sleep study. This would require consultation with a sleep medicine specialist.