You and me both...

I first came to this site because of a like-wise experience:
non-physical voices and presences appearing suddenly in my waking life;
it was hard to handle, stressful, powerful.
Nobody here at this site could give me answers for it.
But they did support me in finding my own answers.
A friend at another forum, Linn Conyers, suggested this excercise:
Set up an empty chair facing yourself, as you sit in another chair.
Remember the felt presence of one of the voices that are engaging your attention.
Imagine that they are sitting in the chair that is facing you.
Ask them to talk to you in a clear way that you can understand....
( you can also ask to see them clearly)
This is an excercise that you practice over time, not expecting immediate results.
Just do it, maybe for just five minutes every day, and in a (week, a month, 6 months)
At some point,
you will hear a direct voice engaging you, telling you what/who they are.
Be patient and relaxed. Don't strain for immediate results.
This helped me tremendously and was the key to integration for me.
You are not insane. You are experiencing/remembering non-physical reality.
Welcome to the forum!