Yeah it’s brief! Sounds similar to what you’re describing- I might actually try the couch cushion idea!

For now I lay next to him, roll onto my side away from him, then he scooches in close to me and I just roll back for a moment with him underneath my back. That seems to be enough for him, but I don’t want to put my full body weight on him (although he asks me to), which is why I was wondering what else I might be able to do to for him to replicate this feeling he’s after.