It's a boat, not a brothel. But where there is a will there will be a way.
On our 28, the PO even gave me pointers regarding foot positioning. All POs should be so helpful.
On our 38, the PO couldn't understand why my wife questioned the lack of curtains "If you want privacy, go into the V berth."
The Catalina 35 or 36 has a massive nearly free standing double bed up forward. Perfect for falling out of underway.
Sabre 38 "Victoria"