It is possible to get a futon that is comfy, but it's difficult. We have one because our guest room doubles as a den. Key is to have an all wood frame (no metal slats because you can feel those under the mattress), a coil mattress (much thicker than a traditional futon mattress), and for my extra finicky parents we use a memory foam mattress topper. With all this, it feels as comfy as our own bed provided you sleep on your own side and not towards the middle where the fold of the mattress is.
That all said, a daybed or trundle bed seems like it would be a better option if you don't care about the particular look. I'd look at pop up trundles if it's for an adult so the adult on the 2nd twin mattress isn't low to the ground. And, one thing to note... the trundle mattress is not usually as thick as a traditional mattress (since the trundle has to slide under the bed, there isn't as much clearance). We have a trundle for my son's room.
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