When you need to get comfortable there is just no other way like a hammock.
A little bit ago someone posted a video of an Orangutan setting up a hammock, adjusting it, and swinging in it. That was nuts but also very interesting! I apologize I couldn't find the post, but here is the video... it's amazing. Just note, careful of noise, it's pretty loud if using headphones and depending on the volume you have.
Hammocks are so primitive the animals used them before us.