My wife and I are running into some problems when trying to do side of the bed positions. Our bed has a side “rail” (you can see it at https://www.ikea.com/us/en/catalog/products/S19931592/) that holds the box spring section.
When trying to get into these positions I can’t get close enough because of this rail without it digging into my shins and for her to come closer she hangs off enough that it puts strain on her lower back. Even then it’s not really close enough.
Any suggestions on how we could mitigate this?
I’d suggest putting a pillow or foam against it.
Other than that, a chair, chair back or desk might give you some of the position options at the height you desire. Also, I’d strongly recommend Liberator pillows or furniture. They would allow you to do some of the things you desire on the bed, floor or furniture. Sign up for their email and you can get them with a significant discount, even 30%+ multiple times a year. You can also get them at places like marrieddance.com.