Sure, this is the sex toys section, nothing to be mixed up with the real deal here.
There are many manufacturers for nice inflatables beyond the well known like Intex and Bestway. You could take a look at Puffypaws, Horseplay Inflates, Inflatableworld. Jet Creations has some with realistic photo print, but most of them are quite small. Puffypaws are hands down the best, but they run only batches of a hundred pieces or so, and I heard of used ones going for 4 digits, never seen one for sale myself. All these are without SPH, so you'd have to modify one for yourself or find someone to modify it.
Shosu (Netherlands) sells cheap SPHs you can use for DIY modifications, CandyCoatedSqueaks (US) sells modified toys on etsy. Hongyi (China) produces very nice customized inflatables with and without SPHs. Although they look like a quite big company on alibaba, they sell from 1 piece. All these SPHs do consist of a vinyl tube supported by an additional air chamber or by some string across the inflatable.
Many years ago, someone named aphorx began to build really nice looking SPHs supported by foam, which do feel much better than just a tube. His website is down for years, but you can still view it here:
https://web.archive.org/web/20190830183050/http://aphorx.de/gallery.html
Nowadays the only ones selling inflatables with foam supported SPHs I heard of are sevenford-ws (Germany). Don't know if they have anything to do with aphorx.