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Step-by-step build — 7 steps. Also available as a print sheet.
Drill two 1-1/2" pocket holes on each end of the headboard rails and attach them to the 4x4 legs with 2-1/2" pocket hole screws.
Drill 3/4" pocket holes on the top and sides (not the bottom) of the panel's back face, spaced about 8" apart. Attach the panel to the legs with a 1" gap behind and 1-1/2" gap in front, using 1-1/4" pocket hole screws — this sets the panel back 1" from the front edge of the legs. Attach the 1x4 top trim to the top of the panel with 1-1/4" brad nails and glue.
Repeat the headboard steps to build the footboard, with its shorter panel and top and bottom trim pieces instead of just a top trim piece.
Paint or stain the headboard, footboard, and siderail pieces before moving them into the room. Drill two 1-1/2" pocket holes on each end of the siderail top rails, and three 1-1/2" pocket holes on each end of the 2x10 siderails, then assemble the bed with 2-1/2" pocket hole screws.
Build the center support framing from the slat cleats and center legs — a queen-size platform needs this center support to keep the slats from sagging under a mattress and sleeper.
Lay the mattress slats across the siderail cleats and the center support, and screw down. Keep no more than a 4" gap between slats — check your mattress manufacturer's recommendation for the right slat spacing.
Optional 1x2 trim can be added around the top edges of the headboard and footboard panels for a little more visual dimension.