The only comfy one I've slept on with someone else is our Aerobed in Queen that we got at Costco for ~$99 but that was several years ago. When you inflate it, it has it's own headboard, which is great for the pillows not falling off! We put a big fluffy quilt under the fitted sheet, otherwise you feel the "bumps" in the mattress. We also have a twin Aerobed, which our young nephew sleeps on when he visits. It doesn't have the headboard, and honestly, it's just not as comfortable as the Queen, IMO.