I have a hard time sleeping without my wife in the bed. We have a king-sized bed though, so we generally both have room to spread out. Sometimes it is the little thing like noises you make during the night that can keep you up. We can a little fan going that makes some white noise. You would be surprised how quickly you get to where you need that noise to sleep. It also has the benefit of drowning out other noises you hear at night (dogs barking, etc.). Seriously, it just takes time. If you are with different women on different nights, it would be difficult since you aren't used to the mattress, how they sleep, the size of the bed, etc.
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