We do the same, she’ll have a foot touching my ankle and I’ll have a hand touching her hip. Sometimes her toenails are stabby and I roll away but she seeks me out in her sleep lol.
Occasionally I’ll sleep on the couch if I have a sinus headache as it is more upright to promote drainage, but vast majority of time we sleep together.
Usually we both have to pee around 2am, so the wake up is not a bother. We also are used to each other’s alarms, so aren’t woken by the other.