Our boys (6 & almost 8) share a room. We searched high & low for something that I would like. Of course anything I found that I liked & would work for them & their space was outrageously priced or cheap garbage. My husband just made their beds. They are captains beds, which are the beds with the drawers underneath. (3, theirs are pretty deep) Their room is not too huge or too small, but with their drawers underneath it eliminates them stashing things under the bed or things getting lost and there is only one dresser in their room to share. My husband also made this, it matches their beds. It is 8 drawers, 4 side by side. They have plenty of space for their things. And there is room in their room for a toy box and a bookshelf too.
The beds are twin, they are kind of high, (32+ inches?) but they have been in them since they were about 2/3, earlier? I can't remember. They have never fallen out. (I don't see the point to a toddler bed at all. But that's just me) But they are very sturdy, well made & I expect them to last until they move out. I would suggest these types of beds simply for the drawers and of course they can't hide anything under them for you to find later!! I don't like bunk beds either. I don't get having extra beds in case of a sleepover. Just get them twin beds. It sounds like the room is big enough, and if you like the idea of the captains beds, I'd recommend that. Gives you the extra storage plus frees up some room for a desk or whatever else you may want in there. My boys' closet only has some coats, their button down shirts & a basket for their shoes. I fit all their board games, a couple of their blankets & a few other random toys in there. I don't hang up t-shirts or pants. The dresser & beds are plenty of space for all their clothing.
As far as guests. Personally I wouldn't take up space that we could use here for a guest who might stay periodically throughout the year. My family is all out of town. Some stay at a hotel, some stay here when they visit. We have a pull out couch & (tall) queen mattresses. We can pull out the couch or blow up a mattress, give up our bed... it doesn't matter. Granted we don't have too many visitors at once, and for not more than a weekend. But to me they can camp out in the living room. I wouldn't have my kids room also be a guest room. When the kids have sleepovers they do this too. They sleep on the floor in sleeping bags, use the couch, the mattresses, sleep outside in a tent in the summer time. Whatever they want. They don't need to camp out in their rooms.
I'm sorry I can't suggest a store for you & I don't know your budget. Like I said we searched high & low. Some places are outrageous, some are just so cheap. So you may just have to look & look. And you, like we had to, have to purchase 2 at the same time. It can get pricey. So it was much cheaper for my husband to build them, and better quality & much nicer. Maybe start your search at larger furniture stores in your area. I know here we have Bassett, The Dump... The room store. You may just have to go search a style you like, then narrow down stores by your price range. Good luck!!