I am not quite your height, but a bit too long for the standard camper queen. I added a foam buffer about 5 inches and it made all the difference in our 25.2. Once in place, it is there as long I I sleep in that bed. Much more comfortable for me, no change for Mrs S.
There was no need to support the foot end of the mattress with the overhang, after all it's just toes. the mattress is not just folding, the part that flips down is a little thicker. With the buffer added, our mattress tends to slide towards the foot. A big sheet of the stuff you line drawers and put under rugs helps reduce that slipping.
With a couple of cushy mattress pads and a replacement comforter on top of the mattress, it won't fold flat. So I attached an eye screw to each side and a long bungee hooked across the folded matress keeps it in place. That way it doesn't flop down on the door as we travel.
I think we need to stop calling it "working from home" and start calling it "living at work!"