The human neck has evolved to be highly mobile, like other animals. To help us look around and see predators and prey. I’m imagining this was a larger factor in natural selection, being more aware than being able to sleep better. Someone else will probably word this much better than I did.
And now we demand comfort and luxury. A pillow is nicer than the hard ground? We can also sleep on our back just fine without a pillow. Its more side sleeping you need to support your heavy head at such a distance from the ground.
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