Keep doing it for like 2+ weeks and then try go back into a bed again.
I've been sleeping on the floor for just shy of three years now. The first few nights were not fun kept waking up multiple times during the night to adjust because my shoulders etc were in pain. However despite the multiple wakes I still managed to feel very well rested the next day.
After a few weeks I didn't have the same pain to need to readjust, I kinda just melted into the ground compared to being stiff and unwilling to truly relax into the sleep. When I did try to sleep in a bed a few months in I woke up the next day and just didn't feel right, so have slept on the ground ever since. Its an absolute win.
That being said, I still do't really know what I want for my head, I often have a soft pillow, but have also tried with no pillow, I don't have any firm opinions on that sort of thing, but know that I will never go back to a bed.