I have had problems sleeping since I was in a nasty car accident a few years ago. The best change I made was to switch to sleeping in a hammock! It removes the pressure points and many times I find I sleep as well or better in a hammock then I do in my bed at home. The trick is to not pull the hammock too tight so you can lay on a diagonal and flat. I can sleep on my side or back with ease and add an under quilt, mosquito net, rain tarp, and a light weight sleeping bag and it is a complete 3-season system! In warm weather I can leave the under quilt and sleeping bag at home and carry a blanket. When it gets colder I don't carry the bug net.
I do have the XXL self inflating sleeping pads that are like 3-inches thick and I can sleep on these but I much prefer to sleep in the hammock as I get older and the neck and back pains hit after being out in the woods all day.
Here is my setup from last weekend - went to see the Flight 93 memorial and decided to try minimal camping with the hammock setup and Motorcycle:
Hammock with the bug netting before I learned it was going to rain.
Added the rain tarp and removed the bug netting as there were not many bugs. I will note I didn't use the under quilt and it rained several hours and got to the upper 40s over night and damp but I was fine without the under quilt with a 50-deg sleeping bag.
Anyways, just what works for me. Try the hammock alone and if you like it you can spend the fortune to get the rest of the gear as bug net, tarp, under quilt, straps plus hammock - this is about $500 - $600 of gear and it is "cheap" Eno stuff!