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 (January 26)
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