For my entire life I slept in one of those postures ("the lookout"). I had a bunch of problems (pain in the chest, pain in the back, some problems with my knees not loaded symmetrically, my feet getting "extended" for quite a long time causing problems with Achilles). I also had a problem with restlessness -- these positions cannot be maintained for long without moving, I would be changing my position very frequently.
Couple of years ago I have injured my ACL and had to learn to sleep on my back. Now I am much happier sleeper. Now I generally do not move at all during night (I wake up exactly as I have fallen asleep and my sleep tracker tracks way less movement). All of the pains gone.