I do have the trifold pullout, the first part is the seat which does have a fair amount of foam. Is the second and third sections that lack enough foam and have a hard divider where you lower back rests. Impossible to sleep comfortably with all that.
Storage is the issue when bringing in mattress toppers. In the close position with the back cushions removed, one child could sleep on it fairly comfortable, but that is all it will accommodate.
Not sure that other pull out or fold out couches are any better.
2703WS Rockwood Super Lite (6,400 Dry weight)
Tow Vehicle - 2010 Ford F-150 Super Crew
5.4L V-8 6-spd auto 2x2 9,800 Lbs. towing capacity.