Hello Dear Lori,
I sleep in a recliner with an electric blanket as the liner because I'm always so cold, but probably will put it away soon. Laying flat in bed causes me to bump my feet, ankles, knees, and... together while sleeping and painfully wakes me up. Sleeping in the recliner forces me to stay on my back so I have less issues with them touching, but they still do.
But a couple of months ago after 2 of my grandsons had spent the night and brought a special pillow with them, I found me a new comfort zone. The pillow is a Sqiish. I now have 5 of them. One goes around your neck because I have the problem with pain when my head is against something for a long period. But the pillows are so soft my feet just nestle down into them and feel like they are floating.
Sqiish, I got mine at Bed, Bath and Beyond. Half price too because they were the wrong color, but my feet don't know that!
I even put one behind my back sometimes when sitting up because it is so cushy and soft.
gentle hugs,
pat