The bed should be fairly straight forwards, especially if you are handy. The two hard parts I see is finding paneling that matches your interior, and how does the bed work with the slideout. I would start by taking the mattress off, take a bunch of photos of how it is built today. Then sketch out the new frame design.
Buy the mattress before you start, just to make sure you build it to the size you need/want. RV mattresses are usually a little shorter than traditional mattresses. Nice part about the Queen mattresses is the new side tables to hold a book, drink, phone, etc. Lot you can do.
Another thought instead of using crates. Build a set of dog houses right into the bed frame. No need to haul crates with you.
How big are your dogs?
Good luck, please post photos
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