We bought one of the iComfort beds and love it. It has cool gel in it, so we don't get too hot. It is similar in idea to a tempurpedic, but better. Before the iComfort, we had on of the Donald Trump named Beautyrests and has trouble with it. We also had a Tempurpedic a long time ago and got rid of it in less than a year. We tried one of the Select Comfort at a hotel and were not impressed.
Also, we bought the low profile foundation box springs. It lowers the height of the bed, even if the mattress is tall.