The Aero bed works for me!
I started with a cotton pad type futon, which by morning made you swear you were on a board. I then tried the foam mattresses and pads, which were much better but still not satisfactory. I now use a full size Aero bed which stores nicely in it's bag during the day (under the couch/ bed).
I modified my Overlander. The top of the gaucho bed/ couch is now on one side in the middle to make into an almost full size bed. My couch/ bed expands similar to a sofa sleeper, allowing each person just enough room to get out of bed without climbing over the other.