To make it with just-cleaned sheets, I start with the head of the bed...or the foot. Get it all fitted and straight, throw the excess forward and crawl along pushing it along and tucking in. If I start at the head, same thing but in reverse.
Yes, we'd love a walk around bed, but we like the short length of our camper and the only time making the bed is a problem is when changing sheets or in the a.m.
If this is just not worth the trouble, use the sleeping bags...or buy a camper with a walk around bed. We're coming from tent camping, so it doesn't take much for us to feel pampered;)