When we first got our camper we opted not to get the mattress and use our queen roman self inflating mattress, this way we could easily put the kids mats on top as well as our chairs and have no probs folding up.
Lasted 3 trips!
We then put on an innerspring mattress, re homed the chairs and still put the kids mats on top.
Much Much Much better, will not be going back to the self inflator!
Funny thing, when we were tent camping we loved the 4WD mat and thought it was the most comfy thing ever. Once we got our trailer it just felt blah.