I've slept on noting but carpet and a sleeping bag for 15 years now, for the sake of my back. When I try sleeping on a bed again, my back gets worse within a week, making vacations hard for me.
Yes... short story: its extremely beneficial for your body especially your back.
I've written most of my experiences down here: https://highlighter.com/npub1lelkh3hhxw9hdwlcpk6q9t0xt9f7yze0y0nxazvzqjmre3p98x3sthkvyz/FAQ-Sheet-Sleeping-on-the-Floor-a6m3ru
and made a video about that here: https://youtu.be/ICnLS1BbZ_w
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