Yes sir, I remember sleeping out without a pad. Several times in the backyard and a lot more when out hiking. I was young and stupid. Of the times I finaly went to sleep, around roots, bumps and other crap, I finaly figured out to scrape a duff bed together, provided the ground was fairly dry. Enter the foam pad. WOW, it was luxury. Now days a neoair is about standard along with a foam pad for my body.
But, I am an old man and my bones do not take well to sleeping on the ground, anymore. Besides the insulating value. He states that R3.2 is minimal insulation. Well, at 30F, ANY insulation is better than none. No, I disagree they are a luxury. In todays world of quilts (with no insulation on your backside,) ultralight down quilts that ONLY keep one side warm, let alone your butt (and the normal minimal temp ratings), I look to a good R3.2 pad, usually supplemented with foam for ~R5.