Is remembering God with my legs open considered a form of disrespect and disbelief, and closing them an innovation and disbelief, and what should I do about these intrusive thoughts?

Disregard these whispers, for they are from the wiles of Satan to hinder you from obeying Allah and to distance you from His remembrance. Remember Allah in all your states, and there is no degradation in the position of your feet, for the Prophet, peace and blessings be upon him, used to remember Allah at all times.