People do a lot of strange things when they are sleepwalking. According to NCBI (National Center for Biotechnology Information, U.S. National Library of Medicine):
When people sleepwalk, they may sit up and look as though they are awake when they are actually asleep. They may get up and walk around, or do complex activities such as moving furniture, going to the bathroom, and dressing or undressing. Some people even drive a car while they are asleep.
Symptoms of sleepwalking include:
Acting confused or disoriented when they wake up
Having blank look on face
Opening eyes during sleep
Not remembering the sleep walking episode when they wake up
Performing detailed activity of any type during sleep
Rarely, showing aggressive behavior when they are woken up by someone else
Sitting up and appearing awake during sleep
Talking in sleep and saying things that do not make sense
Walking during sleep
So - yes, it is possible, but if they show no other symptoms of sleepwalking, you have a right to be skeptical if they claim they were asleep.
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No, it is not possible for someone who is asleep to kiss or engage in physical touch intentionally. If this happens, it may be a sign of a sleep disorder or parasomnia, and it's advisable to seek medical advice.