We haven't had Joey long enough for me to know whether he may bark, but when I have crated him, left the house, then snuck back to see his behavior, he whines, but does not bark. He has growled at two of my kids when they interupted his sleep and my husband (yikes!) when he came home from an out of town trip. My guess is that he is trying to establish his place in the pack (we have 8 including Joey) as we have only had him for 2 weeks.
Lots of basenjis growl when disrupted from sleep….doesn't mean anything about pack order, just about being grumpy wakers. Have everybody in the family start calling his name (not all at the same time!) quietly before he wakes (no touching), then have a treat ready to lure him off the couch (or wherever he is). In time he will realize good stuff happens when he wakes up, and will give up the growliness. Even if he keeps being a grumpy waker, at least you have taught your family to 'let sleeping dogs lie"