It can be done, but you will be right next to the door/window.
Does Disney frown on this?
Your room accommodates 4 adults and you are charged that way.
If one of the guests wishes to sleep on the floor instead of sleeping next to another male, that’s his business.
Although I’ve not done this at any Disney property, for years while I was on the road and we were jamming 5 people into one room, we never heard a single complaint. This went for Days, Quality, Best Western, HoJo, Holiday Inn, and Ramada, and I wasn’t carrying a deflated air matt. I was carrying a 6 inch thick 6’6"x 3’4" foam pad.
If you need extra pillows and a blanket, ask for them.