Good call! It's something I've been thinking about for a while, partly because of comments from other ADHD people. We do some bdsm adjacent (I don't really know where the line is...) stuff cause be partner likes to be treated rough. I guess it helps keep me focussed, cause there's more variety and stuff to do, but it also leads to a lot of meta thinking and second guessing "was that too much? Was that too soft? How long have they been in that position and is that going to actually harm their neck..."
Maybe being in a sub role would be kinda relaxing because of the lack of control / responsibility, but I prefer the Dom/top role, and my partner is 100% the other way. I do think it's easier when there's more novelty in general, just being somewhere different or my partner wearing some new outfit I find hot helps. But making stuff different everyday would soon get exhausting, while changing my imagination is quick and easy.
I'm familiar with that in principle, and it's a great system. But my partner is shockingly bad at communicating during sex (they're on the spectrum). I've tried to talk about safe words, or even just any indication that something is not working for them. But they refuse, partly saying "that it's pretty obvious when I am enjoying something or not" (it is not, or at least not to me). But I suspect the real reason is that they have quite poor body awareness in general (often injure themselves with exercise because they weren't aware that something was hurting them) and that trying to monitor their own safety is tiring and unfun. But they're also not super expressive during sex, so I can't reliably pick up on cues.
We've been together a long time, and I think we've found things that work for us, but it's pretty stressful trying to 'play rough' without a real feedback mechanism (and I have gotten it wrong and gone 'too far' and they've been very upset with me). I've tried talking about it, and even had a period of refusing to do anything like that at all hoping it would force them to agree to some sort of save-word system. But it didn't, they just seemed decreasingly satisfied with sex, so I gave in and went back to guessing what's okay...