plus, you have to pack and unpack every day, which is a chore and sometimes you just need to set off quickly and early. there are many easy, cheaper and efficient ways to find the comfort you're looking for.
your panniers make for a comfy dry place to sit if you really need one. and a half body length of bubble wrap makes a great sleeping pad, while taking less valuable space.
you're absolutely right that comfort makes for a better trip, but all that excess gear will prove annoying once you toughen up a bit to life outdoors.