First, we can and do fuck each other while one is sleeping. This is by express absolute agreement, so anyone weirded out can just calm the fuck down.
She will randomly grab my cock in her sleep, I've been partially awakened by this countless times, including last night. Sometimes this includes stroking it.
She has awakened me with my cock in her mouth. I have awakened her with finger(s) in her pussy.
I have an intense attraction to her feet, and will play with them and cum on them while she sleeps. In times of big anxiety I have flipped around and fallen asleep with her feet nestled near my chest or face. It is incredibly soothing.
We often spoon with me as "big spoon" and her clamping my cock between her legs, or it draped along her ass. She really enjoys having me cum on her ass.
We snuggle for about ten minutes at bedtime. I lie on my back, my arm under her neck and head, her arm and leg draped over me. Then we overheat and she rolls over, and I roll on either side, either our butts touching or my hand pushed under her side or shoulder.
And when overheating isn't an issue, occasionally we can hug while on our sides, legs and arms intertwined. The stars must align for this to work...it's hard to have everything fit without an uncomfortable pinch or pressure issue, but when it does, there is little in this world that is better. I literally could die happy that way.