I've been on the "sleep on exercise mat with some blankets" train for years, but a few months back, stepped it up by eliminating pillows. I still gravitate towards getting something under my head, but it turns out that I only need another small blanket or cloth. I wake at more consistent hours and no longer experience numbness in my arms when waking. I believe there are many more "details" I can improve too. I got into training fast and slow breathing patterns for different activities, which seems to help both the training and the recovery. A plainer diet seems to help a lot of things, although it's hard to reconcile this against the constant imposition of the world to eat pizza and drink beer.