I love hot water bottle not only to have under the covers by my feet in the winter when I fall asleep (like an old timey bed warmer), but also to hold when you’re sad of lonely. Its giving the safety & security of weighted blanket without being suffocating. And there’s so many options for covers! Stuffed animal, wool, a little cable knit hot water bottle sweater, or even knit your own 🫶
An old classic - fill it up with hot water and put it in bed with you or on wherever you need. Thick rubber. Often come with cloth covers to make it less intensely hot. They sell mini ones too. Would that help?