We have the exact same model eclipse 32 aklg you are talking about.
I am 6'2" and walk under the raised beds without having to duck under so I would think your XP4 would fit under without any problem.
If more clearance is needed, the bottom bed/couch is easily removed, by pulling four k-clips/pins and lifting it off, but really at that point the XP4 wouldnt clear the door opening anyway, as both beds raise to be flush with the top of the rear door opening.
I think you are good to go, but throw the tape measure around to make sure.