I knew of an old thai man who's face looked like he was 80 and his body looked cut and jacked. He also preferred to sleep with a thin mat on a hard tile floor with his wife in a house where there were multiple clean, usable beds to easily sleep on instead.
So if your body adjusts to it, it's definitely possible to actually prefer it.
Hard perfectly flat sleeping surfaces with just a simple blanket for warmth can stimulate the lymphatic system much like a massage can.
The worst is when you have an uneven surface, like when camping and there is a rock which even your (inflatable) roll mat cant dampen out, that makes sleep difficult.
So if your body adjusts to it, it's definitely possible to actually prefer it.