Bruce, we had a foam mattress made up of a 6" medium/firm base, and a 2 1/2" latex foam topper, that was like sleeping in a cloud.
I am a warm sleeper and was warned away from memory foam, as it breathes poorly, from a few mattress specialists. Latex breathes better, as do a couple other foams.
Casper and Lessa are two well reviewed mattresses for sale online. I researched them a whole bunch, and feel of the two the Lessa is the best for me.
Another route is to go to a good foam mattress store in your area, one that makes their own mattresses, and you can have one made to meet your own specs. I am considering getting one with a 4" firm base, a 2" medium mid layer, and a 2"latex foam top layer .
That said, seeing the credit from Escape is only $150 to not include a mattress, we are likely going to start with that. In our temp trailer we just added a 2" convoluted foam topper (with the egg crate part up) to the mattress that came with the trailer, and we sleep very comfy on it.
2017 Escape 5.0 TA (someday soon, I hope
2015 Ford F150 Lariat 3.5L EcoBoost
2009 Escape 19 (previous)
“Most folks are about as happy as they make up their minds to be.” — Abraham Lincoln