Use a full thickness mattress. It will require a deeper cabinet to hold the bed and mattress. Ours sleeps just like a regular bed. In 6 years no guest has complained.
We used Wall Beds Plus in Oxford just off hys 301 and466. They custom build the cabinets and sell various mattresses. They have a great showroom with lots of ideas.
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All of us could take a lesson from the weather. It pays no attention to criticism.
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