
Exped
MegaMat Series
Car camping comfort champ, but some side sleepers find it thin.

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A 20 F bag is only going to be comfortable down to 30 F or so depending on how warm/cold you sleep and how much additional clothing you wear to bed. If you're going to be winter camping in Colorado, I'd plan for colder temps and get a 10 F bag. I'd also pay a bit more for the Western Mountaineering Versalight vs. the Zpacks bag. The Zpacks is lighter by about 4 oz in a 6 ft bag, but more delicate with 7D material vs. WM 12D. Shape is different. The Zpacks is straight from the shoulder through the hips at 60" while the WM is 2" wider at the shoulder, but tapers down to 50" at the hips like a traditional mummy. Some like the extra volume through the middle in a more square bag, but for others, it may not be as warm. Take a look at the S2S Etherlight XR (4.1R) or XR Pro (7.4R). I find the Airsprung construction quite a bit more comfortable than the Nemo or NeoAir pads. Summer pads are quite a bit cheaper than winter pads, so I'd lean towards separate pads for the conditions. I've seen the S2S Ultralight Air (1.1R) on sale for under $100 in the past.
Since you mentioned below that you have issues with your arms falling asleep, I'd experiment with some different sleeping pads. Lots of folks complain that horizontal baffles are less supportive at the edges and lead to falling off the pad or their arms going numb. I'd try out some lightweight pads with different baffle styles (dimpled and longitudinal). Maybe the Exped 1R/3R and the S2S Ultralight XR/Ultralight Air. If you have an REI nearby, it would be easy to experiment and return whatever doesn't work out. Are the inflatable pillows uncomfortable due to height issues, or just the feel? Maybe a hybrid approach like this: [https://www.youtube.com/watch?v=c-QGaNQHMZY](https://www.youtube.com/watch?v=c-QGaNQHMZY) I love mine. It's soft, supportive, light, and stays put on the S2S pillow lock patches. Best of luck.
I’ve had the original S2S ultralight pad for probably longer than 10 years now. It’s a beast. I can imagine the newer models are even better.
The grey is the one I have and basically the best allround. It's not as warm, so perfect for summer. It's also very comfortable. The yellow one is too thin in my opinion
This REI won’t help or have any relevant info past the return period. I used the S2S on a pct thruhike and asked them about question afterward and they were beyond helpful. Unfortunately, the ultralight leaks a little air, but still in good shape.
The Sea to Summit ultralight is the most comfortable backpacking pad I have ever owned. Barely a pound, warm enough and provides a quality sleep all night. The build quality of the Sea to Summit ultralight pad will be substantially better than the REI pads, regarding longevity. 8 years on mine, not even a puncture . *Former REI emloyee🤙
Nice to hear that you liked the Sea to Summit Ultralight, I've been eyeing that one, after 50 years of sleeping on CCF pads. Foam pads are fine on the ground, but don't cut it on a shelter floor.

Exped
MegaMat Series
Car camping comfort champ, but some side sleepers find it thin.

Exped
Ultra Series
Lightweight side-sleeper comfort, but a bit pricey and bulky.

NEMO
Tensor Series
Ultralight side-sleeper comfort, but slippery and prone to leaks.

Big Agnes
Rapide SL Insulated Sleeping Pad
Comfortable with side rails, but heavy and warmth claims disputed.

Therm-a-Rest
NeoLoft™ Sleeping Pad
Very comfortable, good service, but heavy and bulky for backpacking.

Ranked #1
Exped - MegaMat Series

Ranked #1
Exped - MegaMat Series

Ranked #1
Exped - MegaMat Series

Ranked #1
Exped - MegaMat Series

Ranked #1
Therm-a-Rest - NeoAir Xtherm Series