I wouldn't be giving up my room but fortunately we do have spare bedrooms anyway so it isn't an issue. If we had no spare bedrooms I would pay their hotel or B&B bill. Buying a good spare bed would be cheaper! 
We did have serious problems when we went to stay with DS and DDIL and decided that we would use a good hotel in future. They wouldn't hear of it though and now give us their own room when we stay with them. We did sleep on the 'put u up' and bed in DGS's room but it was excruciatingly uncomfortable and we really couldn't manage at all. They understand the problem now that they have slept on it themselves but their bodies are much younger and more flexible but even DGS says how uncomfortable it is especially in comparison with our own spare beds. Poor boy is not going to get a decent replacement bed I fear since it is not yet at the top of the family's list!
I have plenty of spare rooms so it's never been an issue for me. When my daughter bought her house she set apart the best (i.e. en suite ) bedroom for when I visit, she also bought a bed with a very firm mattress especially for me. It's not even very often that I stay over, but when I do I am always appreciative of her care for my well-being.
I'm sure your in-laws will be equally glad of a good night's sleep when they're with you. 
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