How do you actually manage sleep on a 3-5 day passage with two crew?

[Dockhead]

I think when you liveaboard for months or years at a time, the boat becomes your home. Having just me and the Mrs onboard, the boat is our personal space. Inviting friends to share you personal space for several weeks would get testing in a house. On a boat it is more so. You can't go for a walk around the garden!
We still get on with our friends that crewed with us. No fall out, but it doesn't mean I want to live with them

I get that; I live on board probably 4 months a year; the boat is certainly my home.

But I have "guest rooms" and a guest heads, and decent privacy in my aft cabin -- the guest cabins are in the forepeak.

I don't invite people on board I don't want spend time with. Fortunately there are a fair number of such people in my life.