In this project I tried more than one proposal. All of them consider different combinations of Full beds + Single Beds, while Folding Beds or Wall Mounted Beds might be such a helpful solution in your family member's case. Since you can use only 5-6 of them mostly, I figured out that other beds can be foldable as well for more spatial and healthier conditions. Below the existing closet is excluded for better organization of your room.
In the first three proposals they are presented in a simple way just to get the idea of it. Every abbreviation used in plans are clarified below in a legend table with text and images. While the fourth proposal was detailed much more to give a more specific vision of its arrangement.
Here two full beds are brought together ( with a board level that can be used as side beds) in the middle of the room with enough space from the window and the bath door. Two singular beds are bunked ahead, mounted in a cantilever position, while the spaces left unfilled are used for continuous decorative shelves in order to has that 'built in feel'.
A sofa/bed is right there for everyday use and guest nights, by complementing it with a HFSB (horizontally folding single bed + stair) distanced 30.5" from the sofa.
P.S: I really hope you found a solution in this contest, because your challenge is really one of the cutest one!