Car camping? Air mattress(es).
How old are you?
My husband grew up camping, I did not.
Now that we have little kids, I like camping, he's kind of over it.
We had mats - they are okay but not great.
Then we switched to air mattresses, but they would leak after only a year or two.
Last year, we upgraded to camping cots. They break down to be quite small and are very comfortable. Definitely better than air mattresses for our aging (40-something) backs. One of them is better than the other, it doesn't have a seam/ bar in the middle.
The kids sleep on mats.
Aside from that -
a propane cooking stove
some fun snacks that you wouldn't have at home, and ice cold water
a real pillow and warm blanket
we also have a thermoelectric cooler which is really useful on some trips, if we are going place to place
My husband does the packing, so I cook the meals. I just recently learned to pre-cook and just re-heat.
I tend to go camping with friends to Joshua Tree every year. They are "pros" and we are "newbies".
Until this year it was always "heat and eat" - instant oatmeal, instant coffee, canned chili, PB&J, raw veggies and fruit.
Part of this is because our children are 8 and 2. If they were 8 and 6, we could cook more. Our friends with older children cook more, but they also have a camper van with fridge.
Our most recent solo camping trip (without other families) I pre-made at least one meal, so I'd just heat it up. So it was tasty and home-cooked, but easy to make. Best of both worlds. Fewer dishes is a key.
The most favorite meal of the trip (according to the kids): nachos. Heat up chili, toss on some cheese to melt, pour over chips, top with guacamole.
I love Taos. Haven't camped there but my friends got married there many moons ago.