This issue comes up from time to time and I've seen various ideas offered up from heat guns to "let it be". I can't speak to the other solutions because I've never tried them, although I have some pretty bent tubes. But recently on a family vacation I stumbled on one that is easy, positively works, and gives laziness a good name. Direct sun and high temps are key; It was 100-105 where we were and the sun was intense, part of the reason I found myself with extra time on one hand and a beer in the other. I simply found a straight section of hand rail in the sun and strapped the tube to it flat, forcing the bend out. This particular tube had a compound bend and needed straightening on two sides. For each side I left it the sun for a few (3-4?) hours (kind of forgot about it really). The triangle shape works perfectly to keep the tube from rolling while you are strapping it flat. I thought a couple decades of memory might make it spring back, but it seems to be a permanent fix. At least, it has stayed flat for the last two weeks.
Hope this helps someone else.
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