I've used 3 inch high density foam for my seat/bed in the the van, super comfy to sit on & sleep on. I would like to add a memory foam mattress topper but it's by no means anywhere near the top of my list of things to do
Mine is the medium density supposedly but I think I was supplied with firm by accident, its comfy but a little on the hard side, I would have preferred the medium really.
one thing that you could try is laminating some firm with 10mm medium on top, then you get the best of both worlds.
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