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I have a full-sized bed. I am 5'7.5", my Man is about 5'11" and my cats are each 20lbs(ish). This simply isn't enough room for everyone to sleep comfortably. I would say that on any given night, three of the four beings on this bed sleep comfortably. The other one wonders how she got herself into this.

I call this move the Leg Splitter. And this one is the Skinny Maker...
Followed by my favorite, the cat-induced Fetal Position.
My Man is going to be out of town for the next day or two, so I should have more room. Or, I guess WE'll have more room. It's odd, but I think that my cats actually expand to fill the space they're given...