To SOs who live together, how do you sleep at night ?

I am a tosser and a turner. I steal the blankets, I hog the bed. I try my best to leave room for my husband, but all bets are off once I am asleep. We’ve been married almost two years and living together for longer. We finally agreed to use separate blankets. I just don’t see how you can ever adjust to sleeping with someone else when you’ve slept alone for the most part of you’re life. How do you share bed space and get a good night rest and how long did it take to finally adjust ?