"Not comfortable" doesn't describe your needs. Are you hot or cold, ground too hard, too soft, too steep, too ...? Pillow too pillowy? Bones sticking through the pad and hitting the ground? sliding off the pad?

I had some tossing and turning and sliding. I got a hammock. That works for some people, others don't like them, but with a pad or underquilt properly applied it's warm and I can sleep on my side without my hip bone digging into the thermarest and bumping the ground.