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Richard has one of the camper beds to himsefg.  
Pip has the table bed.   Alice, Comet (dog) and I share the other bed.    I have a sleeping bag on the table bed, so I can go there if need be.  Pip tends to take up less roon than Alice and wriggles far less.    I think that this is the last year we will get away with this arrangement, as I can see Pip wanting a pup tent next year.   However we are hoping to get a different camper with a larger awning, so he could sleep there.

When we go in a tent it tends to be just the kids and me, so we all pile in together.   Not taken the dog in a tent yet - but he is happy in a tent when we garden camp.

Primarily... if they were happy the way they were lying, why worry?

Other suggestions:

Taking turns on the outside if the big issue is having to climb past somebody in the night.

If mattress is foam - cut it down the middle and make different colour covers.

2 x single duvets or sleeping bags instead of double size if stealing all the covers is the problem.

Earplugs for you so you are oblivious to the squabbling!

A cattle prod should sort it...

really, the sleeping bag solution sorted it for us. Now they are grown up and its just the 2 of us..... and a crazy spaniel who has his own bed at one end, but insists on squeezing in between us (but only when in the caravan).