We also have a self inflating mattress upstairs in our T6 Cali. It also has a slight leak that means it slowly self inflates once we have deflated it.
One thing to note is that the self inflating nature is driven by the internal structure of the mattress which I believe involves some memory foam which tries to revert to its initial size - when you squeeze or suck all the air out you are compressing the foam. So I think the pressure the mattress would exert on the roof is not to do with atmospheric pressure, but more the strength of the memory foam (or whatever it’s internal structure consists of).
We’ve had a bit of a debate here at KAndyCalifornia Towers as to how to deal with this. At the moment we suck all the air out of the mattress with a pump just before we close the roof. We then set a timer for 5 hours and then repeat the sucking. Sometimes we have to repeat that if we’re a bit late to the next site. We can do this without putting up the roof as we can just about get to the valves with it down.
When we first put the roof down, it is quite easy to get fingers and hand between the mattress and the roof, but certainly after 5 or 6 hours it gets pretty tight in there.
We take it out of the van and leave it inflated on a spare bed in the house between trips.
I suspect the likelihood of damage to the roof is not high if you don’t follow a regime like this, but like another commenter, I wouldn’t like to do too much experimenting to find out what the limits are. If someone would like to try, I’d be interested in the results.
BTW, some might ask why we keep persisting with the self inflating mattress. The memory foam does make it more comfortable than the standard mattress or an inflatable mattress. Ours is from Outdoor Revolution.