There's two major factors that affect your sleep: what pad you're on, and what ground you're sleeping. Most people spend lots of time mulling over the former and disregard the latter.
Insulation needs aside, the worse the site you select, the better your pad needs to be. This relationship provides the classic UL opportunity of replacing gear with skill and knowledge. Virtually no one can grab a thin CCF pad and sleep well on wooden tent platform or horizontal bedrock. People who use these pads successfully having the skill and experience to choose a microsite that is conducive to comfort.
When I'm solo, I've got complete ability to choose where I sleep so I often take a torso sized CCF pad (mostly for insulation) and spend a few minutes at night finding a great bit of terrain. Soft ground with a depression under the hips is a good start, and ideally I like a bit of a hump under my knees as well (much like a dentists chair), which I find takes a lot of strain off my back.
When I hike with my wife we use a 2 person tent, so it's tougher to find the perfect natural terrain. Accordingly, we take softer mattresses (Exped SynMat UL7) but still try to choose relatively soft ground.
There's also the mental aspect to sleeping well, and the main solution here is simply more time in the woods.