We have a Coleman Queen double height air mattress. I normally wouldn't buy air as they always leak, but here we are.
It has been great, not a leak in sight and we can blow it up once and use it for more than a week without needing to reinflate.
It does get cold from below, so we just put blankets under the bed sheet as well.
You really want an electric pump for inflation as well.
A stretcher is also cold from below and can be hard. (I had one in my single days).
I had a short double foam mattress as well, but never used it while camping. Seems like it would work well though.
Similar to this:
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