Welcome MyBackandHipsHurt,
I’m sorry to hear about the discomfort you’re experiencing—it sounds really challenging. Finding the right mattress can be a journey, especially with specific considerations like joint issues and shared bed space with pets. We can try to narrow down some options based on your needs and preferences.
Considering you like the idea of a firmer mattress with good pressure relief, as well as your positive experience with the spring pushback of the Aireloom mattresses, here are a few generic suggestions along with a few brand names thrown into the mix:
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Hybrid Mattresses: These mattresses combine the support of innerspring coils with the comfort of foam layers. They often provide a good balance of support and pressure relief. Brands like @DLX, @EngineeredSleep, @Arizona_Premium, @Sleep_EZ , @My_Green_Mattress, and @TheCleanBedroom offer hybrid mattresses with various firmness options and features designed for pressure relief.
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Latex Mattresses: Natural latex mattresses can offer excellent support and pressure relief, especially for joint issues. Latex has a more responsive feel compared to memory foam and can provide good support without feeling too firm.
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Customizable Mattresses: Some brands offer mattresses with customizable layers, allowing you to adjust the firmness and support to your liking. Brands like @DLX, @EngineeredSleep and some others offer customizable options where you can adjust the firmness on each side of the bed, and switch out comfort layer inserts to satisfy comfort feels without having to exchange the entire mattress system, which could be beneficial if your preferences change over time. Many of the Trusted Members who offer latex hybrids and all latex can offer some type of customizable mattress in your price range.
While Aireloom makes a fine mattress with quality materials, brands like Shifman offer similar mattresses with all natural foams and fibers too, starting at the 2-3k range. Millbrook is another mattress that offers British materials built here in America.
Almost every mattress brand mentioned in this response, offers a very supportive firm support system with varying comfort layers and materials to accommodate your lighter weight frame, and will satisfy and dog in the neighborhood 
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Many of the mattresses mentioned are priced below $3,000 offer comparable quality, comfort, and longevity to non-private labeled versions like Aireloom, ( unlike the ones commonly found in stores like Macy’s or Bloomingdale’s, as John pointed out).
It’s important to prioritize factors like materials, construction, and customer reviews rather than solely focusing on brand recognition or price when selecting a mattress. By considering these aspects and paying attention to warranty coverage and return policies, you can find a high-quality mattress within your budget that meets your specific needs for comfort and support.
Now that you have a clear sense of your comfort preferences, it’s entirely reasonable to base your purchase decision on comparative specifications alone. This approach becomes even more viable when partnering with a trusted mattress provider. With a success rate of over 90% when directly collaborating with clients, these experts can help tailor your mattress to achieve your optimal comfort level. By leveraging their expertise and focusing on specific features, you can confidently select a mattress that prioritizes your comfort and satisfaction.
Ultimately, finding the right mattress may take some trial and error, but with careful consideration of your needs and preferences, you can hopefully find a mattress that provides the comfort and support you need for restful sleep.
I would encourage you to start by looking at @DLX and @EngineeredSleep as they offer mattresses that can be manipulated at the comfort layers rather then the need for exchanging an entire mattress.
Hope this gives you a bit a perspective to narrow your search.
Maverick
OH! Forgot to mention “impressions”. The is a discernible difference between body impressions and sagging, particularly on a mattress made with natural fibers and foams.
While body impressions on a natural fiber mattress are a natural occurrence and often do not significantly affect comfort or support (as shocking as they may appear), sagging due to poor quality materials can have a notable negative impact on both the longevity and comfort of the mattress. The discernable differences lie in the material composition, depth and shape of impressions, uniformity of support, durability, resilience, and overall sleeping experience.
Maintenance!!!
I can not stress enough that maintenance plays a very important roll in overall comfort and longevity.
Rotate the mattress
Every 3 months. This is important when the mattress is new. The fibers and foams have not been “stressed”. When you sleep, body impressions are normal. One a king mattress in particular, you may develop that “ridge” between sleepers down the middle, head to foot. In a better quality mattress, this is due to each sleeper’s compressing their sides and the middle remains at expanded height, thus creating the ridge. Rotating the mattress, even at times, a 90 degree rotation will allow for even wear and be visually pleasing.
Topper Rotation and fluffing
I rotate and flip my 3" wool topper every time I change the sheets. The sheets are off anyway, so I rotate the topper, and fluff the mattress topper by shaking it multiple times, in a motion akin to the rope exercise, helping to redistribute the filling and restore its shape and loft. It does create a noticeable difference upon lying on the mattress after the linens are reapplied.
For more in depth look at mattress ridging see this excellent article by @DLX
For a more extensive take on mattress maintenance and longevity another article by @DLX