We have stayed several times at the Polynesian in an accessible room with two queens and a day bed. In fact, I think all of the rooms at the Polynesian--accessible or not--have two queens and a daybed, with the possible exception of the suites.
We stayed once in an accessible room at the Beach Club that had two queens and a day bed, but the room had fewer square feet than the ones at the Polynesian. Since we have two DDs who use wheelchairs, we love that the Polynesian rooms have plenty of space for them to move around.
I'm guessing the other deluxe hotels at WDW also can sleep five in accessible rooms, but I don't have experience with those, so I will leave it to others to confirm.