Depending on your wood working ability, you could just make the boxes and put doors on both ends, either ones you make or premade doors. Add some tracks to the inside and make slide out storage or hinge the top and make them open from the top.
You can buy some high-quality seat foam and make the shapes you want and then have them covered. There is a table arm that bolts to the wall and allows the table to be raised and lowered (someone may know the brand). Even easier, might be a free-standing table.
Don & Mary
2019 Newmar Dutch Star 4018 (Freightliner)
2019 Ford Raptor