Hi Sashella - you have got some interesting responses to this. Like some others after years of tenting (and often not sleeping well) we have gone with the hotel imposter approach after messing about with a number of things.
We have a Troll 540 with the multi-bed setup. Usually we put the beds up as a big double at night and put it down in the morning, storing all the bedding underneath. However sometimes if we are stopping somewhere for a while we leave the bed up and eat either outside or in the rear dinette area
We put down two separate duvaleys first then put a fitted sheet. On top of this we put another sheet that tucks in. We then have two individual single duvets - Kath's is quite thick but I have a more lightweight one - this avoids any middle of the night battles. We then put the four cushions down as a base and we then have two full sized pillows each.
All of this stores under the bed, apart from the cushions, and takes us about 5 minutes to assemble.It all really works and the proof is in the pudding as it is often well after nine before we stir, and usually this is because of needing to go to the loo.
It sounds as if you have dogs who would get you up early anyway. Whilst our Troll is usually nice and tidy our estate car is a mess of storage.
this using the van to live in as long as you can sounds a great adventure, keep enjoying it. MikeT