Congratulations fellow X20E owner! We've used ours a few times already and aside from a few small annoyances, absolutely love it. Especially the slide out. This is our second hybrid trailer, previously we had a 2003 Jayco Kiwi 17a hybrid, and before that a PUP (also a Jayco).
Here's what we do with the beds. It helped a bit that we had a previous hybrid for 10 years. We store the shepherds pole in the fold of the mattresses (the old trailer had 60/40 split mattress with 2 separate pieces so the pole was stored on the deck in front of the bed wall.). That's how it was demonstrated to us and it works great. To open the front bed I simply flip the folded mattress forward, there is enough room to do this and still access the tent support. Then I stick the shepherds pole on the tent support and push up, then unfold the mattress and pull it full out. It helps a lot to move the dinette table out of the way. The back bed by the bathroom is a bit harder. I've been sliding the bottom part of the mattress out a bit, then hooking the shepherds pole to the tent support and lifting it, then unfolding the mattress. Its not real graceful but I'm getting a little better at it.
Finally, the tent support should lay flat on the deck. Otherwise it will be pushed out the mattress and make closing the bed panel harder. I think there is also potential to damage the canvas over time too if its not flat on the deck.
2013 Jayco Jayfeather X20 E (sold)
2016 Chevy Silverado LTZ 2 Z71 Crew Cab (sold, and dearly missed)