So I expressed to my gf of 3 years my desire to do things to her while she sleeps. At first she was hesitant, and I didn't pressure her, but now she's seeming to like the idea. The problem is, there's a few roadblocks.

1.) She sleeps with panties on. Yes, I know the simple solution is to maybe ask her to sleep without them, but what are some ways that I can maybe take them off of her while she's asleep?

2.) She tends to move in her sleep, in 2 different ways. First, I don't always have good access. Sometimes she's sleeping on her side and her thighs are in the way, or maybe her legs are crossed. Second, she sometimes moves my hand away in her sleep. I've asked her about it and she says she's not doing it on purpose, but until the gives me the OK to ignore her trying to move my hand, I'm gonna respect what she's "trying" to tell me.

3.) She's tight as hell, and it hurts us both a little bit for me to put it in(I also have phimosis, which doesn't help, but that's for a different post). How can I go about this without waking her up?

4.) Can she even get wet while she's asleep? Or do I need to use lube?

Edit: 5.) As the first commentor mentioned, she's likely to wake up regardless. She may be a heavy sleeper, but still. What are some good ways to keep her asleep?

Please forgive my inexperience lol, but that's why I'm here. Also please bear in mind im going to run all of yalls ideas by her first, to make sure she's okay with it.