In North Cameroon, most people did not use much furniture. Eating, sleeping, sitting, etc. was all done on a grass or woven plastic mat on the floor, usually outside on gravel (which is actually fairly comfortable.) People had an amazing ability to sit for hours with their backs straight and their feet straight out. Squatting was also pretty popular when waiting for buses, having meetings, having a quick visit, etc.
At best, your average family would have a low ankle-high stool for doing chores on. Rich families might have a bed, but probably only used it on rainy days. Even my very rich friends who lined their living rooms with elaborate sofas would usually ignore the sofas and conduct all their day-to-day living on the ground. We ran into trouble hosting a dinner at the end of an event when it became clear that many of the attendees had never eaten at a table before!
Anyway, I was surprised at how different things were in Mali, where they have locally produced traditional furniture. I’m not sure why they could swing it in much-poorer Mali while the Cameroonians were perfectly happy with their mat.
In my experience in Western China, squatting in public these days would be a bit crass. Country-types may do it waiting from trains and the like, but it’s no longer something you see regularly. However, pretty much everyone, besides some very old or disabled people, are able to use squat toilets and every American I know- including some fairly elderly people- eventually can become used to it. One legacy of squatting does live on- in outdoor beer drinking venues it’s not unusual for the chairs or stools to be just a few inches off the ground and the tables maybe a foot off the ground- it’s like drinking in a kindergarten classroom.
I think ideas of “cleanliness” play a role. In China, the ground is assumed to be absolutely disgusting. Even indoors it can be okay to spit on it, let your baby piss, and throw sunflower seeds, uneaten food, dirty tissues, etc. on it. This leads to a lot of customs, like taking off your shoes when entering a house. It also means you pretty much never just plain sit on the floor.
We don’t really have the same distaste for the ground.