Our house has 4 bedrooms, but since are son returned home with his little boy, they are using 2 bedrooms now. The 4th bedroom is so full of (his) junk from his house and his personal stuff, the room is absolutely unusable.
My daughter, husband, and 3 girls under the age of 5 returned home from Iowa and stayed with us for 5 days. The solution to bed room space was simple. My son and grandson retained their rooms. My daughter and husband moved into our bedroom (and put a play pen up for the baby). My wife and I slept in the camper with the 2 older grand daughters.
Our camper has 30 amp service, hooked up water, and used the toilet, as I can dump in my septic tank. Everyone was happy!
I suggest, YOU take the camper, and give Dad your bed in the house. I don't know about you, but I'm too particular with my camper. I don't want anyone using it, unless I am there! Even in my own driveway!