Sleeping on the side or front, there is a sweet spot I manage to find with soft pillows where it's not uncomfortable. The most annoying is the loud sound they emit when they're low on battery, though I think they finally added an accessibility setting to turn it down.

I try not getting used falling asleep with them on, but will wear them in the middle of the night as soon as the first noises wake me up.

Before I'd use a Bose QC35 but that was terrible on my neck and ears.