We usually go to our trailer, however my wife's family tent camps, so that means we do as well. A few things I do:
- As mentioned, the mattress is key. We went with a folding foam mattress, similar to this one:
https://www.amazon.ca/Milliard-Foldi.../dp/B00W67PCTE
I ended up getting a Christmas tree bag to store it, and that also allows me to carry it on the car's roof rack.
https://www.amazon.ca/gp/product/B077CKPJQG/
- I have a big Costco bin with all of our kitchen essentials. I made up a checklist for everything I put in there; just in case I have to replenish anything after a trip. Prior to this, on every trip there'd be something you forgot. Now we have all we need ready to go.