When I really need to relax, I dim the lights, light some incense, and bury myself in blankets/pillows on the sofa. (Somehow laying at a 45 deg angle is more comforting than laying flat or sitting upright.)
Being perched high off the ground in a sturdy place, like in a treehouse, bunk bed, balcony.
When I'm nervous at work, I get cold and clammy, so I run my hands under warm water from the faucet.
Recently discovered ASMR, too, which is wonderful!