My wife and I have two basic tent configurations: 4-person tent for car camping with a large, heavy air mattress, and a lighter 3-person tent with Thermarests for touring. We sleep well on the air mattress, but not on the Thermarests. On our last tour, we alternated camping and B&Bs so we could actually get some sleep, but that gets expensive.
Does anyone else have these problems? Has anyone come up with a sleeping setup that's more comfortable than inflatable sleeping pads or foam pads, but not as heavy as a full air mattress? Is there anything in between the two? Perhaps padding the sleeping pads with foam, or doubling up? On what setup do you sleep well?