I quilted a queen size on a Singer 15-91 using Leah Day's suggestions re: setting up extra tables to hold the bulk of the quilt, etc. You might be able to find some of her videos on YouTube. She also sells a DVD course on quilting a king on a domestic machine.
https://leahday.com/pages/set-up-sew...chine-quilting. I think she has some Craftsy courses also.
I think it helps to only quilt for a few minutes at a time as it is hard on the shoulders and hands to wrestle a large quilt around, but it can be done!