I’ve had similar issues. In addition, my Restless Leg Syndrome makes me a frantic kicker at night.
I tried sleeping pills, CPAP machines, melatonin, and ASMR videos with jogging ear buds–and they all help! But separate rooms were best. I feel EVERYTHING. Even now, I wake when he closes the door leaving the house in the morning.
Sleeping together on weekends is doable with earbuds.