Our first TT only had sleeping areas that required making them up each night and putting them back to normal each morning. It became routine and part of the camping experience.
I find the new type air mattresses are very comfortable once you find the right pressure for you both. To make them a little better add a down filled mattress topper or memory foam topper or unzip a sleeping bag. Then use sheets and blanket(s) to make it feel like a regular bed. The topper can be rolled up and put out of the way in the tow vehicle or a corner in the bedroom.
If you were me, I wouldn't make any changes for the baby. In my opinion they need to learn to live with change and noise just like we all do. At 3 months old I was camping in a tent with my 5 member family. We travelled in an old military jeep on the weekends to go camping in the desert. My mom said they would put some army blankets in the bottom of a metal ice chest that was between the seats of the jeep and then lay me in the chest and cover me with a couple of baby blankets. Of course they would leave the lid off of the ice chest. And that's how I travelled when we went camping.