In reply to Dave the Rave:
For family camping, we've got 2x Outwell Reel double airbeds - ~10cm thick and generously wide, so very comfy.
Used to use a Vango Comfort 5 Double self-inflating mat - also very comfy and warmer than the Reel, but a bit of a pain to deflate (the Cyclone valves on the newer models are much better for this) and pack size is >2x the Reels.
Going camping with the Cubs next weekend and for that I've got my Thermarest ProLight and the kids will be on Vango Trek 3/Berghaus Peak* SIMs.
Pillows - family camping, we just take them off the beds.
I've got an old Thermarest pillowcase that is intended to just be stuffed with spare clothes. Works really well and less sweaty than a dry bag. After looking around at inflatable pillows, I discovered that the Mountain Warehouse Easy Inflate pillow is a near-perfect fit inside that - winner. Otherwise, I would probably have bought one of the Aeros ones Enty linked.
* - A bit narrow at the bottom, but got it very cheap in Millet's sale, so can't complain.