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I have a couple, one an old as dirt Original Therm-a-Rest orange pad and the other a much newer Coleman thingy thats in storage. Used to have a green USGI one but that one leaked like crazy, and I had another a dark blue/brown Therm-a-Rest but my son pushed it into the baseboard heater and it melted a corner so it got tossed. The Therm-a-Rest pads have inside insulation so that's nice. Bought them from thrift storesBackpack type unroll quick inflate mattresses? Sure, but spendy.
Foam pads have been my go-to for a lot of things, I have two USGI foam rolls.Simple foam pad(s)? There ya go! Could likely roll out in the van floor in normalcy, depending on van size. To save on the bulk rolled/folded up size...
Edit. For a while I had one of the kids foam crib mattresses in there but it's now the extra padding for a double-height crash pad/bed for my son who likes crashing into it. We are planning to upgrade him to a proper twin bed after we get a Cubby Bed for the daughter, or something similar that she can use as a "fort"/safe space for herself.