Our actions have just evolved
We operate much like Brian (post #7), only we leave the large, rear bed set up. We make the front into a table when we want, for eating, playing cards, etc. On Movie Night, we have both beds ready, us in our jammies, and the laptop computer set on the closed stove/sink cover.
If one of us has to do something that needs the floor space, like retrieve some of their clothes from one of the tubs under the rear bed, the other just sits on one of the front seats. This is also where one sits, or on the large bed to read a book, when the other one cooks something to eat. We are learning to live off single servings or out of cans, or in restaurants because we have no refrigeration, also.
I don't know how we would get another person in. Perhaps a small dog, naw.
I do have to add, since we usually need it, we have a Honeywell Oil Filled Electric Radiator which takes up a lot of floor space, but it is worth it for comfort.
A charter member of the Buffalo Plaid Brigade!
Whether you think you can or think you can't, you're right.