My two recommendations: Sleep Number & Kingsdown Emerald Crown ,
We bought the Sleep Number for our master bedroom about 6 years ago and love it.
I like to set my side at 65; DH likes 35. There have been times after surgeries or injuries that we needed to adjust those levels. It's great having the option. Pricey, yes, but there's no substitute for a good night's sleep. No more aches and pains FROM the mattress, but rather a place to ease them away!
The bed I sleep in most often, though, because I stay up much later (and snore) is the guest bed. We bought a Kingdown Emerald Crown mattress about 4 years ago. Mattress models change so I'm not sure Emerald Crown is current, but try a Kingsdown . Our guests have commented how comfortable it is that they slept 10 solid hours .
It wasn't cheap but half the cost of the Sleep Number. Plus a great warranty.