Looking for a thin, rollable/foldable mattress for a camper van

First, thank you Mattress Underground (and members!) for providing this incredible resource. It’s fantastic! So much good information here.

I’m looking for a comfortable mattress option to put in my camper van. But there’s a catch: it needs to roll/fold in half to reveal the “living area” in the van. It doesn’t need to fold flat. I picture the stowed mattress with the “toe” resting on the “head”, and the middle curled around in a teardrop shape, if that makes sense.

About me: I’m 5’6" and 140lbs. I used to always sleep on my back but now I do a bit of everything, I think. I like a bed that is supportive, yet feels soft on top. I don’t like the feeling of being “sucked in” to soft memory foam, though. I also sleep hot, so a cool bed is important. I really like my bed at home. The label says:
2012 Englander Tension Ease Pearl Firm
polyester fiber pad - 40%
viscoelastic polyurethane foam - 28%
urethane foam - 18%
resinated insulator pad - 14%

What I’d really like to know is how thin does a mattress need to be to fold, and how thick does it need to be to still be comfortable and not sink through to the frame. I tried to roll a 6" mattress at a local store and it was far too difficult (I think it was latex.). Will 4" roll? I’ve noticed that covers don’t really come in 4", but topper covers come in 3". I think 3" would roll, but would it be comfortable?

Does any of this sound reasonable, or am I trying to do the impossible?

Right now I’m thinking of trying a 1 or 2" soft layer over a 2 or 3" firm layer. Or maybe a single layer of the right material would do the job? I think latex will hold up to the every-day folding better, and I like the idea of natural material, though I don’t think I’ve slept on latex.

I greatly appreciate any suggestions. Thank you!

Honestly if I were you I would be looking at an expedition type air mattress (look for a denier fabric layer on top, helps greatly with durability) and maybe add a talalay latex topper to it. The air mattress will allow it to fold perfectly flat and a topper of around 2-3" should be soft enough to roll/fold easily (I would make sure it has a cover so you don’t tear it when handling often). This should maximize both your sleeping comfort and use of the vehicle when the bed is not in use.

Thanks! An air mattress is a great idea that I hadn’t considered.