I have had this burping , with only mild acid reflux , but no regurgitation,for about 13 years. It was burps after drinking water, fter eating , while walking, turning in bed, and just at random times.
I was diagnosed with GERD in 2019 after losing my appetite for a few days.
Gastroscopy was normal ,colonoscopy showed only diverticulosis and a stricture.
I was prescribed Prevacid fastab 30mg for initial 8 weeks and it was a massive help.
(Personally I think I had functional dyspepsia)
But I want to share two things that really helped me: Eating smaller meals! (Reduce that load on your stomach)
and I purchased a FULL length mattress wedge with a 7 inch elevation at the head. What a help!!
These two things have been a huge success.
I can sleep without burps; they are almost gone. Prevacid maybe two pills a month.
The mattress wedge I would really recommend, it cost about $150.
It takes a little bit of adjustment but for me it was a wonderful success.
Good luck