Coming back to camping after a few years the issue of getting up from an air bed on the ground was an issue. The other benefit of beds is that you can can use the space underneath for storage.
We use self inflating mattresses and actually manually inflate further to make them more comfortable as required.
The other thing to do is to go a big retailer with beds on display and just try lying on them to see how they feel.
we’ve got the decathlon air bases. not used them camping, but eldest is here from london and trapped by lockdown, and seems to think they’re pretty comfy even for, as it currently stands, 3 weeks of solid use…