How to sleep four in a trailer for two?

The living area sofa in our current coach folds out to a full size bed, but our first motorhome was a small 21' Class C with a full size cab over bed, a convertible dinette, and a swivel chair. On a few occasions, our then teenage granddaughter and my wife's sister both traveled with us at the same time. We found the best sleeping option then was for our granddaughter to sleep on the converted dinette while my sister-in-law slept on a foam mattress on the floor in the aisle. Given the choice, she preferred the floor for the firmer back support anyway. The bigger problem than sleeping space was the matter of privacy with four of us squeezed into the small space. Showering and changing clothes for instance, tended to fall in the "semi-private" category when all of us were trying to get ready for the night or heading out in the morning. Fortunately, we were a close knit family and just had a good chuckle when caught in an embarrassing situation. ;)