I've used Z-rest and Ridgerest pads for over 25 years, after my first inflatable failed on a long trip. Reliability, low cost, and low futz-factor are high on my criteria list. In winter I add a layer of Reflectix duct insulation.

On my first trips in the 70s, I'd never heard of a sleeping pad, so anything is a luxury compared to that. After a normal day of cycling or backpacking, I can sleep well on almost anything except concrete or stones.