Some of the reasons include;
Burnout and stress
Stress and burnout can possibly make it hard for an individual to sit still for longer. They are the same factors that cause mental restlessness, which makes it hard to fall asleep, manage time, or tasks. They are the reason you will see an individual seated, but tapping the feet or hands, hypereacting, or getting agitated.
The mind is always processing things
Restlessness, even when having enough time to sit still could be because your mind is always working. Most of my patients say they cannot sit for five minutes without getting bored and begin thinking of something to do. It is because the mind is busy and cannot allow you to focus. The thought of touching things around you or keeping yourself engaged is because of the inability to calm down your mind.