It will get better!!! I promise!!!
I have quilted a couple hundred quilts, at least 24 of them were queens and the majority large lap/twin size all on my regular sized sewing machine!!!
You can do it. Now, my quilting is not fancy, it is my least favorite part and I sure am tired and sore when I am wrestling a queen size on the machine but it can be done.
My dream is to some day own a Long Arm machine. As of yet, I have never sent out a quilt to be "quilted" for me.