i don't remember if you have said you use a pad or not, but i use a big agnes insulated air core (or an exped down air mat in the winter).
i only inflate them about half way, so they fully support my back when back sleeping & my side when side sleeping.
just like sleeping on an... well, an air bed
i also use a neck pillow & something as a pillow between my knees when on my side or under my knees when on my back.