In desperate need of guidance on buying a new mattress - Pittsburgh, PA

My husband and I were in desperate need of a new mattress. We made the huge mistake of going to a chain store and purchasing a Beautyrest Black Hybrid Plush king mattress. It was delivered on Saturday with a huge lump at the bottom of the mattress. We were assured the lump would “go away in a few hours once the foam had warmed up”. Over 72 hours later, it’s still there. Not only that, the mattress is not as comfortable as the one on the showroom floor. We’d like to return the mattress we just purchased, but have zero idea what to replace it with. I’ve suggested to my husband that a firm mattress with a latex topper is the way to go, but I’m not sure if that’s really the case. I’m in need of some guidance. All of the wonderful info on this site has my head spinning. I"m 5’7" and 175 pounds. My hips and shoulders would ache when sleeping on our old mattress. I would toss and turn all night. My hips never felt like they sunk into the mattress enough, and the little “sinking in” they did always felt like it was met with a layer of rock. My husband is 5’9" and 245 pounds and had general back discomfort. We both like to sleep on our sides. I’m worried a mattress which would allow me to sink in and down enough to relieve my hip pain would not be supportive enough for him. I also don’t know if all latex would be better than a mattress with separate topper. We’ve never tried latex before and we are a bit afraid to commit to a mattress we may hate and can’t return. Hoping for some advice. Much thanks!