I just wanted to add that now that I think about it more, we can pick up Ella on quite a few occasions, but the common thread when she shows some aggression is trying getting her to do something she doesn't want to do.
I have to say again from reading this forum for a couple of years, much of this behavior seems pretty typical. That doesn't mean don't try to change it. I just mean, you are not alone and I am sure you will work it. Basenjis sleep deeply. Many do not like to be woken up. I use a treat each morning to wake Ella up to get her out the door for the morning walk–she has to shake both paws on command to get it. Basenjis do not respond well to punishment. And Basenjis like to sleep under the covers with their owners! I agree it is both endearing and a hassle. But itis very common. One of the most entertaining threads on this site is the one called Where Does Your Basenji Sleep. Look it up.
I agree that sleeping with a Basenji that is a bed hog and then grumpy/aggressive about it, is a situation that has to be worked out.
It sounds like she is basically a sweet dog.