Thermarest Base Camp self inflating mattresses they have an R - value of 5 and are 2 " thick.We have 4 and they were bought for tent camping but they now reside full time in our popup since the 3" mattress setting on plywood was very uncomfortable we still had to add a 1.5" memory foam topper to finally make the beds comfortable. The Base Camps are a quality mattress and easy to use, I would recommend them to anyone looking for more sleeping comfort.

https://www.thermarest.com/