Lots of threads on this topic. 4" works fine, I believe. My current "AirDream" is air-over-coil, listed at 4.5 - 5" but very compressible at that, so I still close just fine, even with the blanket still on the bed.
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2009.5 2720SL
2006 Toyota Sienna
2018 Audi Q7
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