It's all relative isn't it?
In order of comfort;
Queen for 2 pax; softness. Very soft. Plushest of all beds, women love it. Some men, it's too soft. My back hurt after two days.
Couch pull out for two; Full size; more firm, surprisingly comfortable IMO. Medium softness. Everyone loved this pull out sofa.
Wall Murphy; Twin, very firm. Little kid loved it. I loved it. I wished it was my bed.
But floor worked fine too for me.
HTH