This is definitely a short and weird one, but the amount of uncomfortable sleep you can have with a pet has to set records. For reference I have two cats and I think most cats love to sleep in between legs. This has to be some of the most annoying things though, because of the fact that for me I love to move when I sleep and with them there I can't move at all or I will throw them off of me. Just the feeling of not being able to move my legs very much is got to be one of the most annoying feelings as a heavy sleeper. I don't know how it works with dogs especially bigger dogs , but I know for smaller dogs its like this. This feeling feels like you have to sleep in a straight jacket and I can't express the annoyance to people who don't sleep with pets or don't have any in the first place. You love them until you have to go to sleep if you sleep like me. If you have a parrot as well you know the worst thing is the morning and the inability to sleep in because the god damn thing won't shut up.
Here's a video for the rest of the day of cats sleeping with calming music. and what it looks like to have both a cat and a parrot.
My dog used to sleep in bed with me. It was fine until he started dreaming about running. There's nothing quite like waking up at 2am to a kick in the ribs.
Co sleeping with people and animals is challenging but I am going to tell you, it makes you a hardier sleeper.