Roamer Insulated / XL Wide

All through the summer I slept on my Nemo roamer XL wide on a cot out on the back porch because it was hot in the house and I like looking at the stars. It really is that comfortable.

Nemo Roamer wide sleeping pad. Camping is so much better with a comfy sleeping pad.

Nemo Roamer XL Wide.  I’m about the same size as you. It may actually be better than my bed at home. Downside is carrying it, it fills a 40 liter bag.  If you can find the space its amazing.  

It's huge. I prefer using two Nemo Roamer XL singles (or one double if you are dead set on that format) buttoned together for the space savings and flexibility. They really are just as comfortable as the Expeds, high R value, tough, and come with a lifetime warranty. (For backpacking the bright green Expeds are my favorite.) Edit: Just noticed you posted the medium. The one I suggested is much larger. Yours should be great for what you want!

Ditto this answer. We bought Nemo XL wide roamer pads and use them this way with a queen sheet and it's heavenly. Some of the best sleep we've ever had camping.

It’s all about the mattress. Get a Nemo roamer xl sleeping pad and put a fitted sheet on it, and bring blankets and pillow from home.

Nah an air mattress is not the same sorry. This Nemo roamer and the megamat feels like your on foam, it’s so comfortable.

Assuming you are car camping, go for a self-inflating pad. The ones you have to blow up are for backpacking or they are air mattresses. I don’t use air mattresses for camping. A cot would be the other choice. Do you want two separate pads or one double pad for the two of you? Exped Megamat and Nemo Roamer are thick, insulated self-inflating pads that are top of the line but run around $400 for a double mat. The Roamer has a matching sleeping bag, I think the Megamat does too. Chinese knock-offs from Amazon can be decent.

You can get megamat knockoffs on Amazon for a reasonable price. I like the Nemo Roamer but it’s expensive. I got a great deal on a lightly used one.