Making Foldable Beds more comfortable in Hybrid Trailers

y husband and I are 39. He has a bad back. I am a side sleeper and have a bad knee. But we love to camp and hike and ride bikes with our four children. We are trying to make our standard issue bed more comfortable for ourselves in our camper. When we bought our 2015 Starcraft Travelstar last year, we immediately bought a 2 inch memory foam topper for it. It is more comfortable, but it is still not enough. We have problems with what to do with it when folding up the beds. At first, I would try to fold up the memory foam with the mattress. But very quickly, I learned the memory foam is just too heavy and not manageable enough for my strength. So, my husband now rolls it up for me. I'd like to get back to doing something that I can do myself. Plus we need to get it to a place that it is more comfortable.

The biggest problem is that often times we are storing our 6 bikes and lawn chairs and cooler INSIDE the camper while driving, so not a lot of room to store extra bedding.

We have done some searching online and we've seen an option for a queen size fold-able mattress at Amazon. Anyone have experience with this?

We've also thought of getting a queen size 4 inch memory foam topper, cutting it in half and sewing up 2 covers for it, to make them more manageable. However, I'm not sure how this would work with them separating while we are sleeping and how heavy they would be to move.

What have you all done to make your FOLD-able beds more manageable in your hybrid travel trailers?