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The sentence at issue is
When I woke up with my legs dangling over the side of the bed, my feet touched something other than the floor.
Could you help me determine whether "with my legs dangling over the side of the bed" is an adverbial clause of manner or and adverbial clause of accompaniment, or does it have an entirely different function? I have searched on the Internet but found very few examples of adverb clauses starting with "with", so further explanations would be extremely appreciated!
When I woke up with my legs dangling over the side of the bed, my feet touched something other than the floor.
"With" is used here to express manner. It expresses the way in which an action occurs.
"She was walking around with an air of confidence."
"I woke up with my legs dangling over the side of the bed"
The use of "with" expressing accompaniment includes a second noun in the action, as if it were the subject, or near, allied, or akin to the subject:
"She was walking around with her friend Mary."
"I woke up with the others at the first light of dawn."
It sounds as if the legs were found to be dangling upon their owner's waking. That sounds more like "accompaniment" than "manner". The sleeper didn't wake himself by means of dangling his legs.
But the meaning of the phrase seems clear enough, however you categorize it.
