I have friends who have a smaller motorhome--and they use sleeping bags for nights. They roll them up and store them days. Faster and simpler than trying to make a bed with sheets, blankets and all that work-causing stuff!! :)
She rolls her sleeping bag like a long round pillow and it stays on one end of the couch, since it is color coordinated with the RV and makes a decorative addition, taking NO extra storage space.
So you had a Great thought in a sleeping bag!
Most folks are as happy as they make up their minds to be.