You could be lying around on this super-comfy mat of configurable balls if you have $8K lying around. Comes in blue, red, brown, and gray.
Each pliable sphere has hooks and loops that you connect one to another to create exactly what you’re looking to: a divan, a chaise longue (NOTE: not lounge), sofa, love seat, bed, settee, divan, you name it.
• Feel Seating System Deluxe (Animi Causa, via LACMA)