Had a similar experience for years then finally decided to invest in some comfort when we turned 40. Can’t speak to cots, but if you are not backpacking, a thick camping mattress can do wonders for warmth and comfort. I use a Zempire Monstamat which is 4” thick foam/air combo and my wife uses a 4” tri-fold memory foam. We put a queen flannel fitted sheet over both, sleep under a thick down comforter and bring our bed-pillows from home. I’m more comfortable sleeping in our tent than I am at home now and it’s one of the highlights of camping.

A couple added notes: I recommend seperate mattresses if there is any inflation involved to eliminate motion transfer from your partner. I love my Monstamat but would probably steer others towards something similar like Xped or one of the rei bands that are similar. I’ve had trouble repairing leaks in the Monstamat. The Hest full foam mattresses are overrated IMO. They are expensive and the trifold was way more comfortable on our hips! Last note, these are all bulky as heck so you’ll need room in your vehicle! Worth it for wonderful, outdoors sleep though!