I need sleep!

I'm sure the first 4-5 year this bed was ok, but I guess we ordered too firm. About 5 year into this bed I began having back and hip issues. Chiropractor here I come. I related the pain to cycling which I do 3 times a week, but didn't want to give up. 10 years into the bed I had a week long trip and slept in a hotel. My hip pain nearly was gone! I started looking at new beds but then thought about getting a cushion topper. The mattress itself is sound, just too hard. We had a topper on for about a month. Very cozy,but way too hot. Had to get rid of it. I'm shopping for new mattress again. Bottomline: The tempurpedic we owned was one of the original options. They have improved greatly since then, but I will never go back. Sleeps too hot, hard to roll over in, waking up very sore. I'm looking for cozy! Oh one last thing. The warranty was awesome. The boxspring made noise when u sat on it from day 1 and it kept getting worse. 3 years into the purchase, I called tempurpedic and without hassle, they delivered a new quiet one without charge. I was very impressed.