Did you put the knee rolls at the head and foot , and turn the cushions over so they were flatter .
A duvet instead of a bottom sheet can be much more comfortable on a hard bed and a cheaper way than a topper.
I find our caravan bed comfortable enough , but we have a 2 inch memory foam topper on one of the beds at home and this is extremely comfortable . Well, I think its comfortable, but hubby hated it, so it got shifted to son's bed, he loves it.
We have a two inch topper on our bed at home but I think it would work better if we had a very firm mattress under it. The one inch topper we use in the van works well because of the good support of the seat cushions, but a two inch one in the van would be ideal.
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