Today after work I was home alone so I nodded off on the rug in our living room.
I often sleep there.
As long as I have a pillow I can sleep on any hard surface.
At my mother-in-law’s place, she has a 5-star rug. Very comfortable.
After a whole night sleeping on a hard surface, my spine and natural body alignment have reset closer to neutral.
Both times I completed a 10-Day Vipassana meditation course, the guy mentions some nonsense (in my opinion) about not sleeping on high places.
I don’t sleep on the floor/ground for any spiritual reasons.
But apart from the physical benefits, the mental aspect of ‘sleeping on the Earth’ is something primal.
If sleeping on the floor seems too extreme for you, try a futon mattress.
Without planning out my affinity for sleeping on hard surfaces, this is how I began years ago.