Sleeping mat wise the ones with foam in are another level - Vango Shangri la, Exped Mega Mat (also offensively expensive), Outwell Dream Boat, Thermarest do one as well and I have a feeling so do Alpkit but don't quote me. They are up there with 'mattress' levels of comfort. They are also very heavy and big, so not great for anything other than basecamp style / car camping.
We have recently bought Neoair Topo Luxe as our 'do everything' mat and although really comfy, its nothing compared to the ones above.
As for sleeping bag, our car camping sleeping bag is a Vango double (I think it might be the Accord?). It feels really nice and soft, warm enough for the two of us (my partner identifies as a block of ice).
In a past life I was a scout leader, so I wouldn't worry to much about what sleeping bag and mat you choose as you wont be doing much sleeping.....