Yup, that happens lol. Just move your legs, they'll change to move in the new nook/cranny your body makes.
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Personality dependent, I'm afraid. My cat was always so deeply offended that I dare wake her to move her self-heated nest that she would abandon me every time.
She was a big cat too, it's not like I could just shimmy around her or gently lift her. God knows I tried.
If my cat's on the bed and I even think of moving he's immediately up in my face asking for pets or to be let out.
I've got my current cat and had my previous one trained to know that if I'm in the bed it's sleep only. If I wake up with them between my legs I'll shift, they move, I give pets, and go back to sleep. I know that's not feasible for all people but I've been lucky with the cats I've had/have.