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Headcannon - When Arthur was a kid he used to sneak into Uther’s room to steal shirts and wear them as nightwear.
He thought that a piece of clothing he wore to sleep, that smelled slightly like his father, is what a hug from Uther would feel like.
He never really found out if that was true because he had never experienced a real hug from the King.
Maybe, when he’s older and Arthur and Merlin are friends, but have obliviously feelings for each other, he steals Merlin’s neckerchief somehow. He doesn’t think or know to ask Merlin for a hug because he subconsciously thinks he’ll be rejected instantly.
So instead, he steals Merlin’s neckerchief and hides it under his pillow until night and while he’s sleeping he kind of just holds close it next to him.