Without a doubt I have experienced this. If I make the intention to get up at a certain time, almost always will I wake up at said time. If I don't, like you said, I won't and will wake up usually less restfully and with some stiffness if my back (don't ask me why).
Don't know why or how it works, but I never underestimate the power of the mind in regards to the body and to healing.
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