1. If there are trees, set up a camping hammock. This can be extremely comfortable if done right. You want to get the straps fastening the tree to the hammock as tight as possible so that when you lay down in the hammock it doesn't bend like a banana on you. Then after getting the hammock set up, put a sleeping pad in it, this will give the hammock some structure and keep it relatively flat while you sleep in it. This set up in my opinion is the most comfortable sleeping set up I've ever had camping.

2. If you do not have any trees where you are camping to set up a hammock, then I'd suggest using a cot, getting off the ground is a game changer as no matter how good your sleeping pad is, if you're on the ground there's always some rock that manages to find it's way into poking you during the middle of the night.

3. Bring a pillow. The pillows that come with various sleeping pads or sleeping bags are garbage, and sleeping on a hoodie or something similar for your pillow is the worst.