A nice firm mattress suits me fine, a hotel room or vehicle will do. A tent over my head is a necessity. A Thermarest is the only way to go. An Ensolite is quite adequate for me. A flat bed of sand is enough in summer time.
Any flat ledge is comfortable.
In the desert, I insist the water I drink be clear and bug free. I have to be able to clearly see the bottom of the cut before I drink the water. The presence of a few floaters, sinkers or suspensions in my water does not bother me. Zooplankton add protein. A little grit helps the digestive tract.