Need Replacement for Helix Midnight

Hello! I’m 5’8 170lbs. My wife is 5’0 and approx 12lbs.

We’ve been sleeping on a Helix Midnight for about a year. My wife doesn’t mind it, but I wake up multiple times a night. No pain, but I feel like it’s too firm.

We are both side sleepers and both enjoy a plush, hotel feel. But want some durability.

Any tips? Latex, hybrid, how do we get support and that plush feel? Any mattresses that suite us better than the Helix Midnight?

Thanks!