I love your description of making your bed in your trailer and was rolling on the floor laughing!
I LOVE our bed-making plan for our 13' Scamp
and have used it since 2011. You can refer to my many previous posts regarding bedding by going to the "Search" button on the FGRV forum, scroll down to the bottom for "Google Search" and put in the words "Gilda bed".
In short, I use "real bedding" and I don't need to "tuck it in" anywhere as the sides of the trailer keep the bedding contained. The 1 1/2" Thermafoam custom topper is cut into two long pieces, covered with a custom cover made of 100% cotton jersey sheets (or cotton knit fabric on the bolt) and a long zipper for easy removal for washing. The toppers can be each rolled up and stored in the bench. The comforters are standard queen size, generally 84" square, providing enough overhang so they don't need to be tucked in. I chose to connect two comforters using a loop and button method (see photo detail) because Velcro is scratchy and noisy and zippers are too confining. The loops and buttons can easily be connected in the dark. To "make" the bed for daytime simply fold the comforter in half (42" wide) and place on top of the topper. See photo.
I'll be happy to answer any questions you may have.