We have the X23F and agree the mattress are very firm, we had a 2000 Jayco U10 that had the basic foam mattresses that were great! But when we upgraded to a X23F the Denver Mattresses were a very rude awaking when we first used them. The wife looked for deals on Amazon and has found 2 different foam mattress toppers, first starting with a 1 1/2" then upgradings to a 2" worked better for us. We found them for under $100 and made a major improvement.
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2007 Toyota Sequoia
2014 Jayco 23F
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