All things considered, how and why Claire awoke in the other bed? I think I have a working hypothesis because something similar happened to me:
I got to share a room with a girl after a wild, wild wedding party back in my hometown. She needed a room, mine had two beds, I offered to share, she agreed. When we got back to the room, she went to the bathroom to freshen up a little and take off her dress, while I took my suit. We started to recount and review the party and we crashed at my bed because it was the one in front of the bathroom. Suddenly, we were asleep.
I woke up briefly because I felt my leg was hurting a little (I had a surgery a few months before the wedding and even today my leg hurts if I can't move it for a long time) and found she was cuddling. I moved my leg and she, like Claire, went rhfgljfk, so I stayed in bed with her and went back to sleep. Time passes and my leg hurts again, so I have to move it. Also, she's not there. She's in her bed.
She woke in the middle of the night, went to the bathroom, did what she had to do, and went back to bed. She didn't remember she fall asleep with me, so she went to her bed and rolled in the blankets. And that's it.
Besides, the girl was my half-sister. It was a bonding moment for us: now I consider her my full-sister.