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

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My favorite 3-season pad in terms of comfort is the (discontinued) NeoAir Topo Luxe, wide (25") version. It's 4" thick and way more comfy than any other pad I've tried. 3.7-value, which is okay for most 3-season use. When on snow or frozen ground, I place a closed-cell foam pad on top, which boosts its R-value to 5.5, which is sufficient. In winter, I use an inflatable 3" thick pad with >6.5 R-value, but it's not as comfy as my Topo Luxe. Topo Luxe has been replaced with the NeoLoft pad, which is 4.6" thick, 4.7 R-value and has side rails to keep you centered on the pad. I have not spent a night on one, but I've tried them out, and they may well be even more comfy than my Topo Luxe. Wide (25" or 26") is now a requirement for me. I carried lighter pads when I was younger, but my aging hips and back do much better with a 4" pad vs. a 2.5" or 3" pad.
Neo air topo. Just fab.
I would have said that Thermarest Large LuxuryMap was the most comfortbale (individual) mat, but their valve system sucks! It eats rubber o-rings.
I'm pretty much exactly like you. Tried and DONT LIKE: Therm-a-Rest NeoAir Topo Luxe. It's thick! But the horizontal baffles suck for side sleepers. Sea to Summit Comfort Plus Insulated. Not thick enough. Hip pain. Noisy. The one I want to try next: Therm-a-Rest NeoLoft.
I’m a pro guide and me and most of my colleagues use thermarest neo air r4.2. I used a thermarest 32 degree down quilt but most use down sleeping bags
The thick ass Thermarest, Exped, or REI self-inflating ones are definitely more comfortable and durable than any air mattress I’ve ever used.

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