Cot and pad combo is the bomb. I have a queen size memory foam mattress at home and being able to sleep on the same mattress "in the field" makes getting shut-eye way easier. Heck with hammocks and ground pads.That’s what I do in the ol 4 runner minus the cot/pad. I get dressed while I’m still horizontal and my first step outside is into my boots.
I've literally spent the night at a COE campground sleeping on a concrete pic nic table before, and have spent too many nights just leaning the drivers seat back. Ya do what ya must, but only if ya have to!