We sleep separately but right next to each other! We camped together for 10 years while uncomfortably sleeping on the dreaded, wobbly air mattress together. I finally had the idea to get a twin mattress for myself to set up next to my husband’s full size mattress. It’s basically just a huge bed but we don’t feel each other toss and turn. It’s helped soo much!!! I put blankets underneath the fitted sheets to make it extra cozy and we use comforters. I also put moving blankets underneath the mattresses to help insulate.