Back in the day all of my sleep pads eventually ended up being just for ground insulation. Closed foam being the best as it can also be a flotation device.

For sleeping comfort I think the hammock is best even though they can be difficult to set up.

I am one of those guys who stays up till he cant so I have always been able to sleep anywhere, lying down, sitting, or even standing. In the Field (before we called it Down Range) sleep was always a true luxury...

I would suggest getting a closed foam military sleeping pad (for insulation) and learn how to effectively use a camp hammock (not a small chore) for sleep...