Thanks. Maybe thicker foam will go a long way. I am leaning to just make a couch and maybe a narrow side table.
I currently have a wall mount table, it looks like hardware here http://shop4seats.com/rv-furniture/dinettes/dinette-hardware/wall-mount-table-support.html
Mine is custom made and the leg is at about 45 degree angle when the table is a table where the leg props into the bed rail groove - the wall mount support that holds the end of the table when in bed position. This way the leg is not in the way of people legs and makes it easy to get in and out. Anyway, I removed one side of the stops that keep the table from shifting forward or backwards on its mounts (nothing to do with the legs anymore). This allows me to move the table closer to myself when I am eating, rather than have the table edge line up with the seat edge. Typically a human pulls his chair under the table. If you have Dunlop, then you could push it the other way if you had this set-up.