This is not a complete fix, but one of the things I do when I don't want to bother friends is to get underneath a heavy spring mattress on a firm bed base and stuff in a lot of clothes or pillows around me and writhe around. Problem is, the bed base itself is rather hard.
Sometimes I also squash myself into the corner and put things around me.
There are ways of pushing your arms agains the wall and giving deep pressure with the other hand, pushing your hand backwards so that there is pressure through your wrist and elbow. Joint pressure is important.
I also jump up and down for 1-2 minutes (I actually count the jumps) several times per day if necessary.
None of these are complete fixes, I know, but they help a bit.
I sleep in a nest of pillows.
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When I must wait in a queue, I dance. Classified as an aspie with ADHD on 31 March 2009 at the age of 43.