Have you ever though of going the hammock route?
I've slept in a Hennessy hammock for several years now while backpacking and have a Mayan couple's hammock set up at home. Not a muscle aches when I wake up after a night in the hammock.
I've had my eye on a collapsible and transportable stand now for a year or so and it might be short enough to fit in one of those larger tents that are common in the campgrounds.
If you do decide to look into hammocks, I would suggest either the Mayan style for its flexibility and breathability or an asymmetrical cut if the fabric is solid so that the occupier can lay flat.