even with two beds in 6x11 what should have happened is that steve stumbles into their room in the middle of the night drunk off his ass after drowning his sorrows because he's had an argument with his beloved danno but doesn't wake him up and just slides into bed next to him. there's all his convenient space left how nice of danno to think of him. steve's inhibitions are down (there's a reason he doesn't normally get this drunk around danny) so it seems like the most natural thing to snuggle up to him.
in the morning danny wakes up and steve's bed is suspiciously empty but there's a warmth at his back and something heavy across his middle. that's when he realises his oaf of a partner is spooning him and when danny tries to carefully extricate himself it turns into a giant octopus situation which means he tightens his hold on danny instead.
just when danny resigns himself to his fate of being a cuddly pillow the commotion wakes up steve. at first he smiles stupidly when he sees danno's grumpy morning face and a ridiculous bedhead but then he realises where he is and his face falls and it's his turn to be embarrassed. which leaves him with the only option - a tactical retreat into the bathroom, whereas danny drops back down onto the bed and, rubbing his face, wonders what island gods he has pissed off this time.
in the show's typical fashion they would be fine in the next scene and pretend it never happened.