We found the right camp pad for us.  Besides being really comfortable and helping us have a good night sleep, the camp pads we found are the right price, and the right size.

At Costco, we found North 49 Self Inflating Camp Pads. They were only about $30 each, and roll up to be a bit bigger than a sleeping bag. They are light enough and compact enough to fit in the van with all the other stuff.

 The kids are happy and so are the parents!