I have been researching mattresses like crazy. I think I have it narrowed down to a latex hybrid. I weigh 130 & hubby weighs 170. I have restless legs & sweat at night. I must fall asleep on my stomach but will turn on my side at times. My husband can sleep any way. We definitely need edge support because we had to downsize from a king to a queen so I sleep on the edge. I am looking at the luma hybrid , the quadra-flex hybrid and the ultimate hybrid.