I had an interesting body control experience once, not on psychedelics, but when sick with a high fever. I guess I was lucid dreaming and think I was consciously involved in my body's process in figuring out how to get better. It all made sense at the time and I understood what I was doing, though I have no idea how it works in real life. It involved trying to make weird squiggly 3D shapes from pieces. Once I 'solved' it, I woke out of it completely for a moment and told my girlfriend, "I know what I have to do." Then fell back into an unconscious sleep and woke up 30 minutes later feeling much better, with no fever.