Idk Stephen, I'm world's easiest sleeper. I often end up taking one for the team and voluntarily sleep on floors at family parties, halloween parties, parties...
I camp comfortably with a sleeping bag and a torso-length foam pad. Nothing more, no pillow. When it's cold, I use a thermarest inflatable, but I'm happy with narrow widths and torso lengths.
My bed at home is about 6 inches shorter than I am, but by using pythagoras's theorem, I can usually find a diagonal that works. If not, I'll curl up and sleep on my side. Easy.
Two things always wake me up: Cold, and Light.
The only real discomfort I ever had while sleeping and camping didn't even wake me up. I was in a thunderstorm, snoozing quietly. My rain fly on my hammock was off-center, and I flooded the inside of my hammock, but didn't even notice. My knee was out of my sleeping bag, pressed up against the bug net, and the mosquitos that took shelter under my rain fly feasted all night. I woke up with a bright red knee, covered in 20+ individual bites, and I was soaking wet. Still didn't wake me up!
But yes, I had to pause when I awoke to reflect...