Look into proprioception; simply put, if you're unfamiliar, proprioception is essentially the ability to perceive the boundaries of your body/where you are in space and/or in relation to things like furniture, that uneven section of the sidewalk, door frames, other people, etc. Some people have lower proprioception.
Low proprioception can also result in reduced perception of physical stimulation; this might look like someone who:
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throws themselves onto the couch,
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hugs too hard,
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regularly gives a painfully strong handshake,
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often talks too loud,
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drops things frequently, etc.
It's already been mentioned that folks on the ADHD and/or autism spectrum are more likely to have low proprioception, so if you see yourself (or as you were as a child, since many descriptions are centered around ways this would present in children) in some descriptions of common experiences of those with low proprioception and also diagnosed with ADHD and/or autism, you may find value in pursuing assessment yourself (this was the case for me, diagnosed at 38). Or you may not.
Either way (associated with a medical diagnosis or not), proprioception can be improved if there is interest in doing so. For example, movements that cross the body are helpful in increasing awareness of where your body is in space, which can increase awareness of where other things are in space as well. For me this led to not only the anticipated outcome of fewer run-ins with tables, doorframes, etc, but also reduced frequency for things like dropping my keys, knocking over drinks, all forms of spilling on myself, and tripping over stuff.