If it’s a standard size or a standard size will fit any mattress like a novaform 10 inch from Costco or Sam’s for <400 is a 1000% upgrade from an OE RV junk.
Mattress. Measure the platform it fits on and if it’s close to 60x80 its a queen. ( or go online and look at mattress size pictures). Costco and Sam’s have great deals on decent foam mattress and $450-500 ones we’ve grabbed on sale for 299 are what we use in our camper and guest rooms and no complaints. A 10 inch seems to be the sweet spot for price / comfort. Our grandkids all like the 10 inch Costco ones we got for them when they “graduated” to a queen when their “kiddy room” became their “grown up teen” room.
The last one we got was the 10 inch queen Novaform @ Costco for 299 for a camper we picked up in May. It’s really nice.
An RV “short queen” is 60x75 as opposed to a regular 60x80. But if you have a little wiggle room a regular is actually slightly under 60x80 to ensure it fits in a 60x80 bed frame.
Measure up and go from there. The toppers are IMO not a good solution, it’s hard enough to make an RV bed without a topper moving around.
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