Linky of floorplanI guess the sofa serves as an additional bed and you may need that (we don't know). Otherwise, I read all sorts of complaints with the comfort of these expanding couches. If you don't need it, remove it. Try it out for awhile and see if the stock setup works for you. A year of camping will promote things to change.
One of the things that the layout diagram uncovers is that you will have a narrow walkway between the table and the counter. With the sofa removed, the table can be slid back into the slide area for a more open kitchen area.