Air Mattress ?

Back when I was camping under the pickup cap I used a cheap Coleman air mattress and found it quite comfortable. I kept a spare with me but never needed it. As Jfet said, I also deflated it quite a bit before hitting the road for the day. Wouldn't take too many hundred feet elevation rise for a fully inflated air mattress to become fully deflated.

We use a Sleep Number RV queen mattress. Zero problems with it so far but we have only had it one year. It has an auto pump and we do deflate it to about 40% when headed over mountains.

Comparing a Sleep Number to a regular $30 air mattress is like comparing a truck camper to a tent.

Here is an excellent option...

select comfort for RV

Sleep Number® RV Mattress Deluxe. A great value, this bed is enhanced with cushioning support

Adjustable air-chamber design lets you change the bed?s firmness at the touch of a button, from soft to extra-firm
High-quality, durable sleep surface for years of comfort
Cushioning layer of high-loft polyester fiberfill and quilting foam
Since typical RV mattresses rest on a firm platform style surface, no base is required.

Put fatigue mats under, for comfort and insulation. Keep it there for any mattress.

There are air mattresses and air mattresses.
We've been using what is now "Sleep number" mattresses in our old house for over 20 years and love it.
The bed was converter water bed, so no space for box spring.
Now for new house we bought beds where box + mattress makes about 24" and we like it as well, but we keep the old sleep number in the garage.
To be clear, sleep number is using air bladder, but has lot of foams and padding to line it.

Buy a replacement mattress and/or memory foam topper. Skip the air mattress. If you search here, you'll find the complete list of issues with them. :)

I think that is a personal comfort thing, so certainly a personal choice. I have slep on air mattress, and do not like them.

Wayne