Hi Piper,
Subject to first confirming that any retailer or manufacturer on the list that you wish to visit is completely transparent (see this article) and to making sure that any mattress you are considering meets your criteria and the quality/value guidelines here … the better options or possibilities I’m aware of in and around Saugerties, NY would be in the Poughkeepsie/New Palz list in post #4 here and in the Schenectady/Albany list in post #4 here.
Some of the other lists that may give you some better quality/value choices and are relatively close to you (although they would involve a longer drive) include …
The Western Connecticut list in post #2 here
The Springfield/Northampton, MA list in post #4 here
The list for the larger New York City region in post #2 here.
Phoenix