We sleep 4 in an Escape
19; two adults and two teens (both boys) who are both taller than me. They share the dinette (head to foot in sleeping bags). It isn't ideal and the best option is for them to be in a tent, but that doesn't work in all situations. Squished together as they may be, they prefer it to being in a tent if it is cold, wet, or windy out, or in one night situations where setting up and breaking down the tent and cots doesn't seem worth it.
The harder thing is what to do when it is windy or cold or raining and we aren't
asleep. The dinette is crowded with four of us and not the best place to sit for hours and hours, plus the up down gets annoying as we need to slide the dinette table to get out of one side of the dinette. I don't mind hanging out in the permanent bed as a "lounge", but DH doesn't love it.
Our reality is that we chose the trailer we thought would be best for the two of us once our teens are on their own, and decided that a permanent bed would be the most comfortable option. It is comfortable, no doubt about that. But overall, I think the trailer is best for two people unless the weather is ideal or you can use a tent as a second bedroom.