The worst part of backpacking for me is bed time. I am typically a side sleeper and have a terrible time getting comfortable on a thin self inflating mattress. I am currently using the REI Trekker 1.75. I have been tempted to carry the extra weight and move up to the 3" base camp pad.
For a pillow I use my sleeping bag's stuff sack and put clothes in it. I also put a small stuff sack between my knees to keep them form hurting. At home I use a pillow.
I'm willing to carry a little more weight if anyone has advice that has worked.