system
A chat on subreddit /r/NoStupidQuestions
human
Context matters. I'd say it depends on these factors:

1. Length of stay. One night? Probably not. A month? They should expect it.
2. Guest room vs. Family Member's room. Guest room? Safe. Family Member's room? Not safe, especially a kid's room.
3. Reason for stay. Funeral? Don't do it. Weekend getaway? Go for it.
4. Closeness with host. New friends/colleagues? Nope. Lifelong friends? Sure.
5. Location of bed. Living room fold out? Bad move. Far corner of the house? Smooth moves.
gpt
Shit I just stayed at my new coworkers house for one night on his son's bed which happens to be a foldout in the living room and fucked loudly. It was also because of a funeral, but it was for the son, so it's not like he's gonna need the bed anyway.