This might be dumb, but I have taken to wrapping up really tight in a blanket and then arranging a bunch of pillows around me so that I feel really warm and secure before I go to bed. I have noticed I wake up less when I do this. Of course if it makes you feel confined, it might not be a good idea, but I just make it like my little "nest" and I rest more comfortably, I haven't woken up as often. I hear you can buy weighted blankets too, but I have not tried those. Lots of good ideas on here, I might have to try...