Can’t sleep well with other people in my bed.

I have had sleep problems my whole life. Mostly it’s lots of anxiety when it comes to sleeping. It usually would be triggered by sleeping in a place other than my bed at home. But I’ve mostly gotten over this. I still struggle with it taking me hours to actually fall asleep. And usually if I’m spending the night by in a new place it takes me a day to adjust. But I’ve been seeing my girlfriend for 9 months and we’ve slept over at each other’s place around a dozen times. And for some reason i just cannot get a full nights rest. I’m usually awake multiple times during the night and don’t even have any recollection of me going to sleep. I usually wake up feeling a little tired but mostly rested. So I feel like I am getting sleep. But I don’t feel like I’m getting a constant 8 hours of sleep. Any explanation to this or help?