Earlier quoted context omitted.
Yes, adjusting our sleeping position has to do with the sensation of pain, a stimuli (pain, discomfort, pressure points) that cause most individuals to reposition during sleep, i.e. it is the sensation of pain from pressure buildup that triggers the need to move during sleep. You are right, it is to prevent prolonged compression of tissues, to avoid bedsores, nerve damage, etc. That said, this is not the whole story,…
I can do more than that. I used to wake up sweaty half the time from sleeping as child. Now that never happens as an adult, i instead wake up with my sweater mysteriously taken off. I wish sleep self would learn to put a sweater on if it turns cold though.
Not everything is lost though, you can potentially learn it through repetition, you just have to do this in a half-awake state or in a state close to sleep. Do it often enough, and theoretically you may be able to perform the task during non-REM sleep.