How do you cope with full body tenderness/pain with touch?

I’m trying to get comfortable to go to sleep but the combined thickness of the fabric of my underwear and sweatpants feels like it’s cutting into my hips and is causing pain when I try to lie on my sides (most of the time I can only sleep on my sides). My clothing fits correctly, and is a little loose actually. I have the same issue with the short sleeve hems on some of my t-shirts - I feel pain when the fabric presses into my upper arms when I’m lying down.

What do you wear when your body is super tender like this? I don’t like sleeping naked and my house is cold anyway. And do you have any tips for coping with or improving the overall body tenderness and pain with touch? I’m so tired of my entire body feeling bruised and sore. Tylenol isn’t cutting it.