I don't post my kids so I'll just show the room and a drawing of kind of what he looks like. Basically his upper body will be on the bed but his legs will be off of the bed like he's planking. So I have to go in there at like 3:30 in the morning and tuck his legs back in and hope I don't wake him up.
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By swapping the kids I don't mean get rid of the child who planks lol. I mean move him to the bottom and his brother to the top

Apologies if I’m wrong but is your child sen? Could they be speaking sensory input? He might get the same sensation if he’s on the floor as it’s cooler and he may feel the grounded sensation he might be looking for. But I’d try and swop them if possible.