Hi SleepTampa,
Yes, a mattress can indeed be too firm, and as a result achieve poor alignment. You can see an excellent first introduction from Phoenix here:
He reviews PPP, the first 2 P’s being posture and pressure relief. The trick is indeed to find a mattress that is suitable for you, and allows you to achieve the right posture / alignment and pressure relief. The good news is it’s not impossible to find a suitable mattress to achieve this for yourself, the bad news is that it can take some effort to do that.
In any event, I think the above link will help you understand the fundamentals.