As a sailing couple, we used to sleep in the saloon when off watch, whilst the other one sailed so we were always available.
BUT we have learnt that its much better to sleep in your own bed.
You’re not that far away you can’t be woken up quickly if needed, but you are not continually disturbed by sounds and noise. You can stretch out and you can be comfortably dark, even in daylight with some black out curtains.
We sleep much better, feel better and when we are needed are probably more useful due to being better rested.