I put up a guest for a weekend. He brought his own tent and camped out in the “yard”. (The “yard” in question being a million-acre forest.)
Short answer: Give me an hour.
When I married my wife ten years ago, we moved into her (well-located, but small) traditional ranch-style house. I took over one of the guest bedrooms, using the closet for my own clothes, placing my dresser there, and so forth. I have literally nothing of my own in the master bedroom. The third bedroom is our “craft and tech” room…no bed, but it does have a large craft table and quite a bit of storage and hobby materials. Of course, this often overflows into my “bedroom,” so it’s not unusual for there to be boxes and such scattered around. The bed is always made up and ready.
Frankly, I’d rather put you on the big sectional in the den. We keep blankets and pillows for it under the coffee table.
Until the kids moved out, we didn’t have a guest bed. The 4th bedroom was used as an office and all the others were occupied. This was intentional for keeping family at bay (too many vagabonds that will occupy any “known” rack space if allowed in – and never leave). Now that we have an empty nest, 2 unused bedrooms and (including the boat and RV) enough beds to house an entire family or two, we’re keeping our heads down and the unwelcome sign out.
So yes, it’s physically possible to sleep on one of our many “guest” beds, but you wouldn’t be allowed in to use them.