Living in an NYC studio apartment, I may have the least SF of anyone on this board. For Scarlett's last month or so I removed the cushion of her couch onto the floor so she wouldn't jump up there, moved my mattress onto the floor for her during the day and for us at night, and shoved the coffee table out of the way. I then covered as much of the hardwood floor as I could with yoga mats to give her a nice non-slip surface to walk on. In truth, she didn't move around a lot.
I have to say that most of those that I know have gone through that have changed our bed set-up in order to do what was best for the pups. We are a driven bunch. Our own comfort doesn't seem to matter when it comes to them.
Love on Anubis, make lots of memories.