Sleeping in a way that gives good sensory input?

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I sleep with 5 cotton comforters. I sleep on top of two comforters with three comforters on top of me. the first one is covered with cotton flannel.

My sleep position:

I sleep on my side with my knees pulled up to my chest (mostly because I watch too much Criminal Minds and my feet all the way at the end of the bed make me feel nervous and exposed, like someone could grab my ankles from the end of the bed), and I jam my shoulder under my pillow to bolster it and keep it from getting too flat, but that sometimes gives me neck ache. I also have to be squeezing three stuffed animals to create the right amount of pressure on my chest; I've tried ordinary and throw pillows, but they were both the wrong size and too soft or too firm. I have a weighted blanket over my regular duvet that I always keep pulled up to my ear (save on hot summer nights; I have a bunk bed so it gets pretty warm up there some months) and that grounds me as well.