I have yet to use this outside, but I've set it up about 10 times in my living room as a fun date night with my partner.
It can fit us two with a queen size mattress and that's really it. There's room to the side but not enough for a person. We put our pet beds in the vestibule so they can join us. So how one can fit 6 people in here is beyond me. My partner is also 6'4" so we have to sleep the long way with the mattress.
To fold it, I would definitely recommend watching the video in the reviews. That guy helped me a lot and I got it right on the first try. After you do it once, it really is easy.