Marvelous middle not so marvelous. I need sleep!

I expected when buying from a furniture store, quality would be excellent. When we first brought it home, my husband complained that he felt like his feet were higher than his head. Two years later we both have back issues and feel like we are sleeping in a V. When I lay on my side, my thigh and hip hurt. I wake up in the middle of the night when the numbness starts. Now we rotate the bed every couple of weeks with zero relief. We tried to use the warranty but the company doesn't recognize the issue as an issue. 20 year warranty?! The dealer won't do anything either because the mattress got a stain on it. Crappy mattress and crappier service!