I used to fake sleepwalk and go over to give my roommate a hug.
I do not understand.  Why were you pretending to sleepwalk when you wanted to hug her.
She's always so tired lately, its hard to give her a real hug because she's also kind of hairy.
Seeing as she hasn't stopped you, she's probably okay with you giving her a friendly hug, but pretending to sleepwalk is still a really strange thing to do. What if she thinks that you have a real medical condition?  It could end up being a huge uncomfortable issue you have to deal with.
I guess I should never do this, then
I just think that it would be easier for you to just give her a hug without sleepwalking. She clearly is fine with you treating her affectionately while you're both awake, so odds are she wouldn't mind hugging you while your awake as well.