Our Lurcher (Airedale/Greyhound) frequently slept on her back, most often when she/the weather was warm. She’d occasionally stretch out one loooonnnngggg front leg for a little while, then retract it again.
It was always fun rubbing her belly when she’d wake up and stay in that position. She’d wave her curly stern back and forth while getting her belly and legs petted and patted, and I’d tell her she had such pretty pink-and-champagne underpants…