Best mattress I've ever slept in and spent decades trying to find is a latex foam mattress (NOT memory foam).
Aunt moved to Switzerland when I was a kid. Gave mattress to my parents. Parents had their own King size, so I got the mattress. Most comfortable thing EVER. Like sleeping on a cloud. No pressure points.
When we moved when I was ~15, my parents (without telling me) told the movers they could cart the mattress off (it was really heavy).
I was PISSED. It took 20+ years before I figured out WHAT the mattress was and order one myself.
When I saw the TempurPedic ads, I thought, "Memory foam, maybe that's it?". Went to a store that had every model and tried them all, starting with the basic/classic. Nope, too hard, feel pressure points.
Tried the whole range til the top $3000+ for King sized model. "Hmmmm... This feels about as comfy as I remember. Wait, WTF? I'm stuck in this damn rut! Don't remember that with the old foam mattress.
Googled it and found out about latex foam. Ordered it and when it arrived, it was, "Ahhhhhhhh.... finally....".
Talalay latex foam mattress
Unlike memory foam, latex foam doesn't have a memory, i.e. it doesn't take a 'set'. I'm a side sleeper. On memory foam, the foam would take a set and I'd wind up in a rut that was annoying to roll out of. No such issues with latex foam.
Check out the Euro slat foundation on that site too for even more adjustability/customizability.
tl/dr
Check out latex foam mattresses at link above.