Suppose $A \subseteq \mathbb N^+$ is any arbitrary set. I want to determine under which conditions some finite set of translates $\{A + k_i : 1 \leq i \leq n\}$ of $A$ cover almost all of $\mathbb N^+$, i.e. when there is a finite set of natural numbers $\{k_i : 1 \leq i \leq n\}$ such that $$\mathbb N^+ \setminus \bigcup_{i=1}^n (A + k_i)$$ is finite.
It seems to me that a natural indicator of this possibility is the natural density of $A$ being positive; but perhaps it also suffices that the upper density is positive, or that the lower density is positive.
Question: Is it the case that a finite set of translates of $A$ covers almost all $\mathbb N^+$ if $A$ has positive upper density? If not, does positive lower density suffice?