Thankfully slowly moving Inigo off the other's back isn't too hard when Inigo wasn't holding on to Esteban really tightly in the first place - so there's no grip to untangle at all. It's just about angling Esteban's back towards the bed, and if Tidus guides him along, then Inigo will definitely end up flopping down on there.

.. apparently he truly is asleep this time, since he doesn't make a sound. He doesn't even seem to startle in any way. Inigo's eyes are firmly shut, and the only movement he makes after being dropped onto the bed is to curl up.

He's definitly out like a light.