Our Class A van has a unique characteristic that also poses a problem when choosing a mattress. When pushed in, the SLIDE cabinet covers part of the bed. So we are limited by the depth of a mattress. We had the Sleep Number mattress on a hard, unyielding composite and plywood platform. Even a mattress topper made of thick fabric doesn't mitigate the feeling. We tried a 1.5 inch copper mattress. a stuffed topper, but it's too soft and compresses completely, so you might as well not eat at all. I started by buying a 2 inch topper which is the max thickness we can have. I bought this 2" gel filled topper and can't say enough about it. The removable zipped cover, while not plush, is great quality and breathable, and since I can wash it my old fabric protector/upholstery is no longer needed. The elastic straps are wide and hold securely on the mattress. Think of that medium firm topper that will provide the support we need. It's not heavy enough to make it difficult to lift the platform to access the storage space below.
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