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Hello. Thanks for the question.
This doesn't sound to serious. As long as he's breathing normally and he's not having issues when awake, I would just ignore this. The kicking is just something a lot of dogs do when they are sleeping. The whining is not typical, but it's also not really a sign of any specific medical condition.
You may try a mild sedative before bed and see if they helps. You could use over the counter Benadryl (Diphenhydramine). The dose in dogs is 1-2 mg per lb body weight. It can be given up to every 6 hours, as needed.
I hope this helps, let me know if you have any other questions.