Our couch/hide-a-bed is awfully uncomfortable to sit on also in our 5th wheel. We have not replaced it because we have occasional guests who use it to sleep on. But it is also uncomfortable to sleep on. We have two office-type chairs in the camper that we sit on. We have a small folding table we use to eat from as the camper dining booth is usually full of quilting stuff, cutting mat, and a sewing machine.
From my experience sitting or sleeping on a futon, they are usually not much more comfy than what we have. Not sure what the answer is.
We are also looking forward to having some good camping weather coming. But we are expecting 6 inches of snow tomorrow. Blechhhhhh!