HI LyricLL,
Welcome to the community. The ergomotion adjustable bases are a very good quality brand. There are subtle differences between te 2-4. The Rio 2.0 provides the essentials: both head and foot articulation, a Zero-G preset, and a one-touch flat position via a wireless remote.
The Rio 3.0 builds on that by adding more customization with programmable presets and enhances convenience and ambiance with under-bed lighting.
The Rio 4.0 further improves by introducing a massage function with three intensity levels, USB-A and USB-C ports for device charging, while retaining the programmable presets and under-bed lighting features.
Ergomotion does a great job on their units and do private label them with no reduction in features for independents, like yawnder.com where I purchased one for my elderly mother in law. I got her a Yawnder 4 (RIO 4) and placed her DLX Premier Hybrid on it with no issues wit the base or mattress, for over 2 years now, picture perfect.
Hope this helps,
Maverick