I recall reading an interview with MovNat's Erwan La Corre in which he said he only ever slept on the floor. Is sleeping on the floor a better option than a bed?
A carpet, rug, sleeping bag, duvet or blanket would probably give a closer approximation to Grok's bed in terms of 'comfort'. Are modern beds too 'comfortable'? I've slept in a variety of places and temperatures outdoors from snow holes to tree branches (that did require a good piece of rope for extra security!) and, no doubt the fresh air helped, have always felt that I slept better than on any bed.