hugging pillows, wearing warm comfy clothing (sweaters, hoodies, scarves), blankets, rubbing your own body, also drinking warm liquids and listening to ASMR or relaxation tracks, like I like heartbeat recordings
there are also weighted blankets and weighted clothes which are supposed to kinda simulate the feeling of getting touched (you can wear layers of clothing or blankets for a similar effect, but it's only really possible in winter/fall with heating turned down, because you'll overheat quickly) if you're willing to invest money
also I guess body pillows could be better than regular pillows, but I feel like regular big pillows are perfect
you can of course use plushies instead of pillows, but that's of course more expensive, the shape may not satisfy you and you'll probably want to close your eyes anyway, so kinda a waste of money