@TheFlowHorse I recommend checking yt videos and especially comments with various oppinions on the topic. From what i have seen its mostly hard>soft.
https://t.co/htAfkJ9k7j
The thing with sleeping on ground is that it gives you a overnight “message” from hard surface makes you less sore.
@TheFlowHorse Japanese Futon or On the ground with some isolation is the best to not be sore. (takes a few days to get adjusted when sleeping on floor, also it gets a little cold here and there)
Soft mattrasses are no good imo, as your pelvis/guts sink into the mat and make you “overcurved”.