I saw this old news clip from 2016 on Twitter. A 99-year old woman in Miami woke up with a strange animal sleeping on her chest: a kinkajou (Potos flavus).
Luckily, says the veterinarian that took care of the kinkajou, it was a ‘domesticated’ animal. (They did track the owners down. Kinkajous cannot really be domesticated, but the animal was obviously used to humans).