For tent camping sleeping comfort, there are pretty much 3 options you will generally find. 1- mats, they have self inflating ones. These are pretty much the next step up from sleeping on the floor. I've never used these.
2- cots, they get you at a comfortable level, but sometimes placement of support bars can be bothersome. I believe they make queen size now.
3- air beds, I know you said you don't like them, but these are my favorite option. They have higher ones now, I just got an 18" high full size. They come even higher though, I don't find it necessary. With air beds, if you're doing colder weather camping, bring some insulation for under, or its like sleeping on an ice block. I plan to place a padded mattress cover on the bottom of mine when tent camping in the cooler early spring or later fall. I also have an egg-crate, foam mattress topper that I could use if night temps will be so low.
I'm not sure of any other tent bedding available, but thinking outside the box a little, and depending on how low to the ground you mind being, perhaps outdoor, lounging furniture cushions. I believe they fold, though still may be a bit bulky. Anyway, if you attach Velcro to the sides of them, you could connect them together, creating a wider bed. For that matter, if space allows, you could even add Velcro to top of one and the bottom of another, across,the length to stack for a little more height. I don't know, just thinking outside the Bo's a little, this could all get too bulky.
Maybe some others have some viable options. Anyway, let us know what you come up with for a solution.