I used to get bad knee pain after sleeping on the ground. Camping trips were not fun because of it. Last month, I got a thick foam sleeping pad. The first night I used it, I slept all the way through. When I woke up, my knees felt good. I had more energy for hiking all day. My mood on the trip was much better. This small gear swap turned things around for me.
Totally get that. Mine ended up being way more useful than I thought. I used it as a quick seat on wet tree stumps by the river and even folded it up as a knee pad when I was filtering water. That bit of extra cushion makes a huge difference when you're just trying to eat lunch somewhere muddy. It's like a tiny piece of camp furniture you don't have to unpack.