Moving from a king sized mattress to an RV queen was expected to be a troublesome adjustment. However, to my surprise, it hasn't been. We added the 3" memory foam pad to the top of the RV mattress. If one or the other of us stay up later, we seem to be undisturbed when the other arrives.
I am 6'2". We pull the mattress away from the headboard about 2" to 3" and I stuff the extra pillow (six on the bed when made up)into the space and have no problem with dangling feet.
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