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I would recommend putting 4-6" of queen mattress foam topper(s) otherwise imo it isn't comfortable enough. It'll be more comfortable than an air mattress and you don't have to worry about leaks. Also unless you need that extra seat up for someone, I would drop it because all that room is about the size of a full size bed. Why are you using the plywood? I don't think it's healthy with the fumes it emits and it doesn't smell good.
Also a mattress topper (not foam) is awesome for added comfort.
My expedition is definitely the best car to sleep in. I'm 6'2" and it's perfect length wise and there aren't nearly as hard edges as my other cars.
What's rtt?