Had one similar to that and they were simply dense foam. Replaced it with some from Joanns Fabric store (confession, my wife did all the work, LOL). She also replaced the fabric with much better stuff she bought.
Zinus makes a 5 inch memory foam mattress but not sure if you could close it with one that thick and not sure if one would fit. If it is to big you can trim off the excess but it would be more comfortable than plain foam rubber.
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2017 SLX 195RB
2021 Jeep Grand Cherokee Summit L 5.7L V8
Andersen WDH hitch, Renogy 100 AH Lithium &
200 Watts solar panels from Renogy
Prev. '14 Jeep Grand Cherokee Overland, gas 3.6 V6
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