While traveling with our 4 children, we approached it differently. We added a screen room under the awning. The older kid's job when we stopped for the night was to set up their room. They slept on cots that were stored in the basement compartment. They had their space, we had ours. And...it was more like camping than RVing. It was a win, win.:) The younger ones were so jealous that when they reached the magic age, they insisted on sleeping in the screen room.
When they were smaller, we devised a way to put 1 on firm pillows between the captains chairs that were facing each other, put a couple on the folding sofa and 1 in the dinette. In the morning, as you can imagine, they were crawling over each other to get to the one head.