We can get ours closed with all the bedding on inc the quilt, plus the main awning left on which has been flipped over the top, plus both the boys beds that are made up and in their special bags and placed on top of our bed, and have no issues closing it. Our pillows do go in the car.
As mentioned, the main things are pulling the mattress back, then once you are on the second loop of the magic strap fold the top rack over, then at the same time both of us pull down on each side at the front to get all the remaining air out, then do up the rear latch, then the middle latch, then go back to the rear latch and do it up tighter, then the middle one again and do that up tighter, then the front one (which then shouldn't need to be adjusted).