Yes it’s a learned skill
For me it helped a lot to remember the sensations your body when your absolutely tired. And to replay this sensation of heaviness and falling through the bed when I need to fall asleep.
It doesn’t help when I’m agitated or anxious but works on a normal day when I’m just not sleepy enough.
Saying with ELI5: you need to tell your brain this in a language it can understand and its somatic feeling rather than verbal.
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