So I’d be sleeping in the seat on the right, for example, but with my backpack resting on the seat on the left with my head on top of it. This is extremely uncomfortable as it puts pressure on your stomach muscles, but it’s the easiest way to sleep that I could find other than simply sprawling out on my back across multiple seats.
The benefit of sleeping this way is that it’s somewhat covert, so as long as you’re being considerate towards other passengers who might need an extra seat, you shouldn’t attract too much attention to yourself since the driver may not notice you if your head is below the top of the seat.