At first I only took out the second row captain chairs and installed a small sleeping platform which utilized the rear bench seat as part of the sleeping area. After our road test to Oregon, I found it to be OK, not great.
So then I took out the rear bench and put in another sleeping platform. Now it can fit a 6' 1" adult plus a 5' person sleeping in a "L" formation comfortably.
I received a quote for $2500 for custom pullout sleeping platform. No doubt it would've been awesome but I kept finding things I would rather spend $2500 on. I decided to try my hand at putting together this rig with some bed legs from IKEA and 3/4" maple plywood. There is 11.5" of clearance, which gives me plenty of storage underneath. The cushions are from Cushion Pros, they can make any size you want. The prices are very reasonable. In fact, they were so much cheaper than some of the other places, I was nervous about quality. My worries were unfounded and their customer service is top notch.
Check out the blue box underneath. It is the Holy Grail of storage bins. The All Access Rubbermaid container comes in three sizes and has a clear door on the SIDE so you can access your stuff without having to pull out the box. Brilliant. I use the SMALL size. Which fits perfectly under the sleeping platform and can hold 4 sweaters, 4 pants, underwear and swim suits.