If you fall asleep on your back it stretches the back of your legs all night so when you wake up you can’t walk. If it’s cold they amplify the cold, if it rains you have to set up a tarp that’s getting rain shed on it from 2 trees, if it’s hot it’s still hot. There’s just no good way to sleep in one.
I didn’t use trecking poles until I was like 35 because I thought they were pointless. But they are awesome. They lower fatigue noticeably and I’ve saved myself from a couple bad falls. You can get super lightweight tents that just stake to the ground in the corners and take one trecking pole to hold the top up.