I find that strenuous exercise makes me sleep like a log unless I'm cold and wet. extremely hot, or there's significant noise and disruption. Like if you've been backpacking in Peru and you're in a hotel with opening in the ceiling for ventilation and there's a party that cranks the sound up to 11 (and has the same beat) all ... night ... long.
Otherwise I sleep just fine even when it's not comfy, you get used to it.
Especially if you've been doing strenuous activity. I think people tend to underestimate the situations we can get adequate sleep.