My cat is never properly comfortable unless she is sitting on my lap in such a way that it's actively destroying my right knee lol! If I shift to where I can sit more comfortably without her having to move she still gets upset 😭

Carpet tape. (double sided tape intended for sticking carpets/rugs down)

Cats have an understanding of comfort that our feeble primate brains will never be able to comprehend.

Get a small short pool noodle

Mine does the same! He takes such effort into it every time I straighten it out that most of the days it let it be :)