I know the clearances are generally tight on a front bedroom, "Queen" sized bed that's not in a slideout (like ours is) and the amount of clearance varies by model. Our Jayco has about 2-3 inches and we manage by pushing the mattress against the opposite night stand, tucking in the bedding, then repeating the procedure on the opposite side.
Our cat would never let us mess with the cabinets above the bed as that's her hide away.