Word describing sitting on a couch comfortably

How do you say someone is sitting on a couch in a very comfortable and lazy way? It's not exactly lying down, but sitting in a relaxed way. Is there a verb describing it?

Lounge

: To lie, sit or lean in a relaxed or lazy way.

(From Lexico)

Therefore -

"She was lounging on the couch."

Sprawl

: To sit or lie with your arms and legs stretched out in different directions in a relaxed or careless way.

(From Macmillan)

Therefore -

"The kids sprawled on the couch to watch TV."

recline on

: to lie in a recumbent position — usually used with on

on a sofa with two cylindrical pillows reclined a … pretty woman — Thomas Hardy

Webster's Third New International Dictionary, Unabridged