How can I prevent my shoulders from slipping out of joint while I sleep?

As some of you know, my body is a mess.
Today’s issue has to do with shoulders.
If I don’t keep certain muscles tense at all times, the joints slip around, especially my shoulders.
When I wake up from sleeping, I always have to rotate all my joints, including my shoulders, before standing to avoid injury.
Sometimes, I can’t get my shoulders back into socket.
It only happens every once in a while, but is there something I can do to prevent this in the first place?
TIA