Yes, sleep challenges are common with ADHD. It sounds like she might have poor proprioceptive input (sense of where you are in space) that causes discomfort. My son struggles with this and uses a weighted blanket and it helps tremendously. He’s been sleeping under one for 10 years.
Here are more helpful strategies to address sleep issues as well:
ADDitude Community Moderator, Parenting ADHD Coach & Author, Mom to teen w/ ADHD, LDs, and autism