It depends on the ages, ( they outgrow the dinette table bed after a while) and how many adults and pets. We used to put two adults in one bed, two teenagers in the other, and the younger child on the pull out bed.
Model X19H Expandable
GMC Sierra Pick up
Been a camper since I was a kid, and that was a long time ago :)
From pup tents with no floors, to tents with floors and flies, to a pop up, to the expandable.