>>410110917
I'd say Quest. It is least comfortable out of the box, but it's easiest to mod because there's so much aftermarket for alternative straps and accessories and you can probably fine one that suits you. Quest 2 also has the best inside out tracking by far. Your video card might not be able to keep up with the higher specs of the G2. I don't know anyone with a Pico.

If it's not serious, why in particular do you want to spend most of your VR time in bed? it's not the best place for VR because of the common motion controls that want a full range of movement. Sleeping in VR is nice because it's like falling asleep in a call with someone but more intimate. It's never comfortable and there's no much point if you don't have someone to do it with.