They have free chair yoga classes for MS by me.

I really do not know about yoga classes, but I was able to get a hospital bed that my insurance covered. However, I could not sleep with my husband. My husband and I purchased a temperpedic bed with an adjustable base, queen size approximately 7 years ago. However, the mattess was a nightmare for me!! I ended up sleeping downstairs in a recliner for about 6 years, Approximately 2 months ago, we purchased a new mattress which is a Beautyrest and were able to use the adjustable base for the Temperpedic mattress and I am now sleeping again upstairs with my husband. We ended up giving my 19 year old son our old queen Temperpedic with the new base (which is a regular-not adjustable base for the Beautyrest. My son was so disaapointed that he did not get the adjustable base. lol I hope I did not confuse you. Good luck!!

Can you get a prescription from your GP?

Yes that is one of the problems right now is "sleeping with my husband". Its hard on both of us because I have to move around a lot and I'm in and out of bed and bathroom trips. Its just so annoying trying to sleep and then when I do I wake up so sore and its harder and harder getting out of bed. I've tried different mattress pads and sleeping on the couch when I just can't sleep in bed anymore and that is ok until I have to wake up and try to get up (sore again).

About beds and yoga and insurance companies. You never know until you try. But first discuss it with your Neurologist and have a prescription written.