What do you people suggest?
Have you tried having an adult conversation about all this? That's been mentioned a couple of times and you've never responded to the suggestion, directly.
Is he getting any professional help with all this? Because it doesn't go away by itself and most of the time it's hard to sort out on your own.
I'm not sure you understand that a lot of this isn't a "choice" on his part.
I have PTSD. I have a couple of friends who don't have it, but know that I do. They are nice, intelligent, good hearted people. One day, I was having lunch with one. I was telling her a story about something that had happened that week where someone had inadvertently triggered me, repeatedly. It had been a couple of days earlier and I was still wound up because of it. When I told the story she said that she knew just what I meant, she also hates being touched and reacted the same way. Now, I REALLY didn't think she knew exactly how I reacted. She's a dear and valued friend, but I HOPED she didn't know what she was talking about. Seconds later, she reached across the table and touched my arm. I saw it coming and I STILL jumped a foot in the air. I may have done a bit more than that. Her eyes got wide and she said, "You couldn't help that, could you? Maybe it's NOT the same as the way I feel!" Thankfully, it's NOT. She doesn't have PTSD. I'm not sure what she'd thought, but apparently she thought this stuff is a collection of choices and voluntary reactions. It's not.
My point is that your husband isn't doing this stuff to annoy you or because he's a poorly behaved, willful child. He's doing it because he's hyper-vigilant and hasn't found a way to turn it off. Sometimes "hyper-vigilant" is fun. Usually it's not. By the time you're falling asleep at random times and in random places, it's not. Empathy, understanding, and encouragement helps more than nagging.
You mentioned that YOU sleep better when he's in bed with you. Have you told him that? Since his goal is to protect you, knowing that you feel protected with him in bed might inspire a change in his behavior.