We have a latex foam IKEA mattress in our van, very easy to cut to shape and very comfy too. It's very floppy and bends easily allowing access to the storage spaces below the mattress whilst keeping the mattress in one single piece. Only downside is the weight... it's well heavy man.
Last time I looked they'd stopped selling latex but they did do sell other foam mattresses that were lighter and still reasonably comfy, good price too.
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