I think you are alright, to pleasure yourself is nothing wrong, not medically unless its an addiction, and your sleeping posture maybe something you would like to think about if you find your palms over your genitals while waking up.
Next thing there will be some trace of the ejaculation on your hands, dress or other body part, the liquid that comes out is thicker than water or urine and leaves a mark of some kind.
Three if there is continuous irritation in your genitals, you may scratch them in sleep that is how you find it in morning, go to a doctor in that case.
People do ejaculate in sleep, but they do not stimulate themselves as such, so do not worry, you will know when you stimulate yourself on your bed, and you will know when it comes out....... this is just anxiety probably.
and by "public" I meant pubic.
I apologize for any typos I may have made. My phone's touchscreen is a little funky.