I'm totally on board with the idea of pushing myself outside of my current comfort zone. When I moved to a small city in China at age 39 with my 3 year old daughter, I made a personal pledge to challenge myself and be open to new ideas and cultural standards. Yes, the transition was difficult, but I did learn new ways to live a comfortable life, and broadened myself considerably. I'm not nearly as hung up on first world plumbing as I was when I first moved there, and I learned how to dress for cold weather.
However, I recognize that each of us does have limits. For myself, I realized that I hit a limit 7 months in, when my 3 year old daughter greeted me one morning by saying, "Oh, my back is killing me!" No, her back was fine, but apparently, that was the first thing I said each morning, and she thought that this was the way one person greeted another in the morning. At that point, I decided that there is a limit to cultural acclimatization, and went out and purchased a foam pad for my rock hard bed.
We all have to find that balance for ourselves, but I do agree that it's worth trying out various levels of discomfort to give ourselves a chance to decide if we can adjust to it.
Top priority for my van will be a comfy mattress. I can compromise on nearly all else!