Ive camped a few times and use the thermorest and have had no problem with it but i understand that sleeping on the floor isnt the most comfy some times.

I use to do alot of hiking (duke of edinburgh stuff) and remember seeing a guy that had i fold away camp bed with 4 legs (1 each corner) and then he also had his mat ontop of it (basically just raised him off the ground)

Cant remeber what it was but is this the type of thing your looking for? or are you wanting a bigger blow up type mat/bed?

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Plough on