I replaced the mattress in my 2017 1910 esp with this foam mattress
https://www.amazon.com/dp/B005SF6RNG..._pzmtDbJ9ZVN46
The one that came with the camper is much lighter, but it hurt my hips and I never slept comfortably, even after adding the foam floor tiles underneath it.
The new mattress has just the right amount of thickness to keep you off the bed rails. Its designed to be used as a folding couch bed. I'm pretty happy with it, though it does make it a little harder to close the top. Also its two inches shorter than a standard queen mattress so I have a little gap between the tent side wall.