That is a tough one in some ways because if it turned you on the way it apparently does him, there would be no problem, right?
The touching you is intrusive especially if you are sleeping or trying to sleep, I get that too. Both of these things say he is really into you, a good thing...right?

But I have been told by men, that it is their idea of very sexy to be awakened by having sex, as in, you doing it to them. Like, a fantasy. Perhaps you & H can talk about fantasies & not 'the incident' as a way to clear the air?

Marital/monogamous sex is the best if everyone is on the same page and there is absolute trust. But spicing things up, doing different things, seems within the boundaries as long as it is not hurting you & you are consenting. IMHO

Endo is a horrible thing that you have to work around. For that I truly sympathize.