An overhead trapeze added to the headboard of your bed would help. I don't know about the cost but I think with an order from your doctor Medicare and most insurances would cover the cost.

One other thing I have done is, get a long nylon strap or rope. Make a loop at the end for your foot and use it to pull yourself around with your hands. Both ideas are cheap alternatives.

My bed goes along the wall. The headboard always went the way when I got into bed before MS. I had to rotate the bed 180 degrees. It's still hard getting into bed but at least it's possible now.

Triangle bar which hangs in mid air in middle of bed to assistance in repositioning, might be helpful. Lifts are also good if you're fatigued or have little upper body strength or control. I hope these suggestions are what you might have been looking into.