knafelc struck a cord for me. I've been using the same 3/4 1 inch Thermarest for, gosh, maybe 20 years. The chair that surrounds it is one year younger.

I get to camp, set up the tent, throw tent stuff inside, open the valve on the Trest and throw it inside. If I want a chair later I get it out of the tent and use as is or maybe a breath or two before closing the valve.

Once I call it a night, I position it in the tent under the bag. Here's my secret. I put  the sleeping bag bag filled with stuff under where my knees will go. Once I'm in the bag on my back my knees are bent and my heels barely hit the ground. I then let out enough air to make my butt touch bottom when trying. 5 minutes later I'm asleep.

I'll wake up numerous times during the night but actually getting up because I'm uncomfortable usually only happens at home. No heel discomfort there either as they often stick out beyond the mattress there too.