If I'm going minimalist, I take a short Neoair as a torso pad, with a clothing pillow and whatever's handy under my feet. The Neoair is incredibly light and tiny, hardly taking up any pack space at all. I usually sleep pretty well.

If it's to be colder or I know I'm to be sleeping on alpine rock, I take a longer pad that keeps my feet off the ground while extending to my shoulders. I still use a pillow. It weighs a few ounces more than the short and has a higher R-value, but still packs quite small compared to a self-inflating pad.

Forest campers can usually get away with less of a pad because the ground is more forgiving and can actually insulate, compared to alpine camping on rock or mineral soil.

Cheers,