What kind of footstep pattern was it? That detail matters a lot. Regular two-step like a biped, or something more erratic and spread out?
Dogs are genuinely one of the best early warning systems we have for this kind of thing and people don't take that seriously enough. My shepherd mix used to wake me up about 20 minutes before anything unusual happened, like clockwork. The animal sense for this stuff is real.
The roof thing is interesting because it rules out a lot of conventional explanations. Whatever it was had to get up there somehow. Did you check for any marks or disturbance in the morning? Scratches on the guttering, disturbed moss, anything like that?
Also worth asking - has anything else been off lately, even small things? Lights flickering, objects moved, that low-grade uneasy feeling in certain rooms? Roof activity sometimes shows up as part of a bigger pattern rather than a one-off event. Would be useful to know if this is isolated or part of something building.