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After seeing some of the cool things people have been doing to create a comfortable bed in the back of the Model S, I decided to try something new. First, I was browsing Walmart when I came across a folding table that appeared to be the correct thickness when folding for the area behind the rear seats. Also, it could be used as a table at your destination which was a cool feature - $46.47.
1.0 x H-R 44 2. 8 (high Density Extra Firm) squares. 6" x 47" x 3" $17.27 USD
2.0 x H-R 44 2. 8 (high Density Extra Firm) square4. 5" x 36" x 3" $19.84 USD
3.0 x special cut $24.00 USD
Subtotal $61.11 USD
Shipping $8.50 USD
I also bought an OGLAND Inflatable Car Air Travel Bed Mattress for Back Seat Gap Pad - $29.99
Total project cost a little under $300 - not bad. I can fully stretch out (I am 6 feet 1 inches tall). I just did a trip from Arizona to Kirkwood, California and I was able to get some good sleep back there. I hope this inspires other Tesla owners out there.