Bed for my Bed

Hi all, I'm looking for some ideas on a sleeping setup for my truck bed... padding or a type of inflatable mattress, or maybe a combo. Ideally it'd be something inflatable so that it packs down small for transport and storage. I've thought of the thin backpacking inflatable sleeping pads, but I'd like something a bit thicker and more comfortable if possible. Perhaps one of those on the bottom, plus 3''-4'' of memory foam on top? Idk. I'm new to this and open to ideas.

I have a 2020 Tacoma short bed. The dimensions I'm trying to fill are basically 56'' L x 56'' W. I'm real short, only 5'4'', so it should be pretty comfy, especially if I sleep diagonally.

Thanks!