I usually wear a fleece jacket to bed so I don’t have to be cold when I wake up, feeling cold out of the blanket is the thing that keeps me in bed in the morning. You could also wear socks, it helps. And, for Isha you could try making some rituals. For example, I always take a shower at night, brush my teeth and pray before going to bed-in that order. It sorta helps me wind down after each day as well as makes sure I pray before going to sleep.
AND you get the best sleep if you take a warm shower right before it! 