It will if you design for it. Mine will have a full 80x60 N/S queen. From just short of the back doors to just behind the B-Pillars is 80 inches. For the 60" dimension the bed has to sit above the wheel wells. My bed is full time and permanent so you have to be willing to give up some things maybe - like a kitchen, bathroom, baby changing table, a work out room...
A swivel passenger seat helps ease the pain.