There are only two options I know of, other than getting two rooms, that would offer four separate beds - either the FW cabins (a double and bunks in the bedroom and a Murphy for two in the living room) or the All Star Family Suites (queen in the bedroom, three fold outs in the living room). Otherwise, you are looking at booking two rooms at whatever resort you choose. The family suite has the bonus of two bathrooms, which can really speed up the getting ready process, and both have a kitchen/kitchenette for snacking and "living room" space for just hanging out.
Since you won't be going over the occupancy limit of the room, you could bring an airbed (a twin would probably fit best) and book a room at one of the deluxes that has a twin daybed and two queens. The rooms at CR, Poly, and GF are plenty large enough to do this. The rooms at WL and AKL are not really large enough to add any airbeds for additional sleeping space, and they are not rated for five adults.