10 BEST Memory Foam Mattresses – Reviews Updated for 2018

What are the best memory foam mattresses of 2018?

“The best memory foam mattress brands are Perfect Cloud Elegance Gel-Pro, Ultimate Dreams Supreme Gel, Brentwood Home, Sleep Innovations and Classic Brands. These top rated mattresses have many high-end specs like gel-infused memory foam and CertiPUR-US certification. Most of them are also made in the USA. Detailed reviews of these top rated memory foam mattresses have been provided below”

Memory Foam Mattress Reviews

Gel infused?
No. of layers
Total thickness
Thickness of memory foam
Thickness of support layers
Hybrid or foam only?
Made in the USA
CertiPUR-US® certified

Perfect Cloud UltraPlush

Yes, 2″
310"2″ + 1.5″ = 3.5″
Foam only

Ultimate Dreams Supreme Gel

Yes, 1.5″
312"1.5″ + 2.5″ = 4″
Foam only

Brentwood Home Gel

Yes, 3″
Foam only

Sleep Innovations SureTemp

Foam only

Tuft and Needle

Proprietary adaptive foam

DreamFoam Ultimate Dreams Gel

Yes, 3″
313"3″ + 2″ = 5″
Foam only

Classic Brands Gramercy

Yes, 2″
Hybrid Mattress

Amerisleep Liberty

Foam only

Sleep Master Therapeutic

Foam only


Foam only

Now that you have a brief idea of what to look for, feel free to go through our detailed reviews of the best rated memory foam mattress of 2017 based on the following 3 categories:


Medium-firm memory foam mattress


Best soft memory foam mattress


Best firm foam mattresses

  • Back sleeper positionFor predominantly back sleepers (you sleep more on your back than on your side or stomach)
  • Or combination sleepers that switch between back, side and stomach sleeping
  • This is the mattress firmness that’s recommended for most people
  • Check out the TOP 5 Medium-Firm memory foam mattresses here…

1. Best Memory Foam Mattress brands in the Medium-Firm category

#1 Recommended Budget-Friendly, Medium-Firm Gel Memory Foam Mattress

Perfect Cloud UltraPlush Gel-Max 10 Inch Memory Foam Mattress – 25 Year WarrantyDensity/FeelGel infused memory foam?No. of layersTotal thicknessThickness of memory foamThickness of support layersHybrid or foam only?Made in the USAWarrantyCertiPUR-US® certified
Medium-Firm to FirmYes, 2″310″2″ + 1.5″ = 3.5″6.5″Foam onlyNo25 yearsYes
This is our #1 recommended memory foam mattress for the “10-inch budget-friendly, medium-firm” category. Below we list the major pros and cons of this mattress.

  • Best Memory Foam Mattress3.5″ of memory foam including2″ of gel-infused memory foam for under $500? that is no exaggeration! Don’t believe us? Check out the product page and see for yourself
  • 2″ gel-max memory foam: body conforming comfort + helps maintain an optimum sleep temperature
  • 1.5″ of air-infused memory foam at the top: adds to the comfort and helps you sleep cool
  • A mattress that sleeps cool: unlike certain brands of memory foam mattresses, the Perfect Cloud UltraPlush Gel-Max Memory Foam Mattress (2015 model) does not heat up thanks to the 2″ of gel memory foam and 1.5″ of air-infused memory foam
  • Removable cover: knitted cover with “Mesh Gusset” air-transfer technology gives you a very cool mattress that is comparable, if not superior to expensive, branded mattress in yourlocal mattress store. Also, this is completely removable to wash as frequently as you like
  • No motion transfer: unlike with innerspring mattresses where one partner’s movements get transferred to the other partner, high-quality memory foam mattresses like this one hashardly any motion transfer. Seen those TV ads with a glass of water/wine that doesn’t spill even when a person jumps on the mattress?
  • Medium firm: this is a medium-firm mattress which is ideal for back sleepers and combination sleepers (those who switch between back, side and stomach sleeping). However, if you’reprimarily a side-sleeper, we recommend a medium-soft mattress like this hybrid gel mattress or this gel mattress
  • No flipping: unlike innerspring mattresses that need to be flipped every few months to ensure that sagging is minimal, high-quality memory foam mattresses like this one need not beflipped. However, rotating between the head-end to the foot-end once every couple of months doesn’t hurt
  • Hypoallergenic: innerspring mattresses have a top layer made of poly foam. This poly foam, with time, disintegrates causing allergies. However, memory foam mattresses don’t havesuch a poly foam topping and therefore considered hypoallergenic
  • Check Out the AMAZING Customer Reviews Here and appreciate why it’s being called the best memory foam mattress.

Check out these other Perfect Cloud mattresses with Great Reviews as well

  1. Perfect Cloud Elegance Gel-Pro 12 Inch Memory Foam Mattress
  2. Perfect Cloud Atlas Gel-Plus 10-Inch Memory Foam Mattress
  3. Perfect Cloud Supreme 8 Inch Memory Foam Mattress

Other Top Rated Budget-Friendly, Medium-Firm Memory Foam Mattresses

Ultimate Dreams Supreme Gel Memory Foam MattressDensity/FeelGel infused memory foam?No. of layersTotal thicknessThickness of memory foamThickness of support layersHybrid or foam only?Made in the USAWarrantyCertiPUR-US® certified
Medium-Firm to FirmYes, 1.5″312″1.5″ + 2.5″ = 4″8″Foam onlyYes20 yearsYes
Gel Memory Foam MattressThis is our #1 recommended 12-inch gel memory foam mattress for the “budget-friendly, medium-firm” category.

  • Our #1 recommended Perfect Cloud mattress is a 10″ memory foam mattresses. If you’d rather go for a 12 inch cool gel memory foam mattress, we recommend this Ultimate Dreams mattress.
  • More expensive than the 10″ memory foam bed: the queen size is approximately $100 more expensive than the same size on the Perfect Cloud. But, that shouldn’t surprise you given the extra 2″ thickness (10″ vs 12″ difference).
  • Cool gel memory foam: You’ll also notice that the Ultimate Dreams mattress is about $200 more expensive than the very popular 12″ Signature Sleep mattress (reviewed below). Keep in mind that it’s more expensive for a reason. One is that the Ultimate Dreams Supreme Gel Memory Foam mattress, as the name says, has a 1.5″ layer of gel-infused memory foam which is important for heat regulation. That’s why the “sleeping hot” type of complaints are minimal on this model.
  • High density 4 lb memory foam: Generally when you have 4″ of memory foam, that makes the mattress a little too soft. But this visco-elastic is premium quality 4 pound (4 lb) memory foam 100% made in the USA. 4 lb memory foam is on the ‘firm’ side, and that’s what helps make this a ‘medium-firm’ gel memory foam mattress.
  • Made in USA: This 12 inch memory foam mattress is manufactured in the USA. Generally, we tend to trust American-made products more than the Chinese products for example, mainly because US companies adhere to the strict regulations more than non-US companies. This is a definite plus on this product.
  • Awesome reviews: Check out the product page here for user reviews

The manufacturer compares this Ultimate Dreams Supreme mattress to the $2500 Temper-Pedic Cloud Supreme. You’ll be pleasantly surprised to learn that many independent users have no doubt that the Ultimate Dreams is as good a mattress, if not a better memory foam mattress, than the expensive Tempur-Pedic.

Brentwood Home 13-Inch Gel HD Memory Foam MattressDensity/FeelGel infused memory foam?No. of layersTotal thicknessThickness of memory foamThickness of support layersHybrid or foam only?Made in the USAWarrantyCertiPUR-US® certified
Medium-FirmYes, 3″413″3″1″+2″+7″=10″Foam onlyYes25 yearsYes
  • 13 inch gel memory foam mattress review13″ thick: this is thicker than both the previously reviewed mattresses. If you’re looking to buy a thicker mattress, this 13 inch Brentwood Home Gel Memory Foam Mattress is a must check out.
  • 4 layers of foam: 3″ of cool gel memory foam + 2″ of a ventilated air-flow layer + 1″ extra comfort layer + 7″ therapeutic support base make up the 13″ foam bed.
  • Top wool surface: the top-most part of the mattress is made up of all natural wool. The wool not only makes the mattress extra comfortable, but also helps keep the mattress breathable, cool during warm summers and warm during cold winters.
  • Bamboo cover: all of the 13″ mattress is nicely enveloped inside a removable zipper cover made out of bamboo fibers. The bamboo also help keep the mattress breathable and consequently help you sleep cool.
  • Made in USA: Like the previously reviewed Ultimate Dreams mattress, these Brentwood Home Mattresses are manufactured in the USA.
Sleep Innovations SureTemp Memory Foam MattressDensity/FeelGel infused memory foam?No. of layersTotal thicknessThickness of memory foamThickness of support layersHybrid or foam only?Made in the USAWarrantyCertiPUR-US® certified
Medium-FirmNo212″2.5″9.5″Foam onlyYes20 years
The Sleep Innovations SureTemp Memory Foam Mattress is an extremely popular model among budget-friendly mattress shoppers. Part of the reason for its immense popularity is its competitive price-point. Part of the reason for its competitive price-point is because it doesn’t have many bells and whistles. For example, it doesn’t have a layer of gel-infused memory foam. Also, it has only 2 layers of foam, while higher-quality models have 3 or more layers of foam. Nevertheless, the Sleep Innovations SureTemp memory foam mattress is very high value for the price and can be recommended for anyone looking for a no-frills, wallet-friendly foam mattress. You will see that most online memory foam mattress reviews have this mattress rated very high.
Tuft and Needle Mattress – More Supportive Than Memory FoamDensity/FeelGel infused?No. of layersTotal thicknessThickness of adaptive foamThickness of support layersHybrid or foam only?Made in the USAWarrantyCertiPUR-US® certified
Firmer than Medium-FirmThis is a proprietary gel and graphite infused ‘adaptive foam’
210″3″7″Foam onlyYes10 years
  • This is NOT memory foam. It’s an ‘adaptive foam’ that is proprietary to Tuft & Needle. According to the manufacturer, this adaptive foam is actually better than memory foam and latex. Customer reviews seems to agree (look at the 5 STAR percentage)
  • Adaptive foam has been infused with both gel particles and graphite to enhance its heat dissipation out of the mattress
  • The 3″ adaptive foam has a density of 2.9 pounds per cubic foot (p/cft).
  • The 7″ support foam has a density of 1.8 pounds per cubic foot (p/cft).
  • Tuft & Needle is superior to memory foam with regards to turning/rolling on the mattress, off-gassing, sleeping, mattress weight, and sex-friendliness
  • However, with regard to motion isolation, price bracket, and durability, memory foam may be superior depending on the brand of the mattress

2. Best Memory Foam Mattress Types in the MEDIUM-SOFT category

As previously mentioned, “Medium-Soft” mattresses are best suited for side-sleepers and those who wish to use them for napping for a couple of hours in a guest room etc. We don’t generally recommend them for back sleepers or stomach sleepers because their hips will ‘sink’ a tad bit too much in these ‘soft/plush’ mattresses giving them spine troubles. If you’re a stomach sleeper, back sleeper or you switch between stomach, back and side sleeping positions (combination sleeper), a medium-firm mattress is best. However, like mentioned earlier, if you’re a hard-core side sleeper and/or looking for a mattress for sleeping for short periods of time, a “Medium-soft” (or soft) viscoelastic mattress will work just fine. We have reviewed below two of the best memory foam mattress brands in the wallet-friendly, medium-soft category.

#1 Recommended Budget-Friendly, Medium-Soft Memory Foam Mattress

DreamFoam Ultimate Dreams Gel MattressDensity/FeelGel infused memory foam?No. of layersTotal thicknessThickness of memory foamThickness of support layersHybrid or foam only?Made in the USAWarrantyCertiPUR-US® certified
Medium-SoftYes, 3″313″3″ + 2″ = 5″8″Foam onlyYes20 yearsYes
This is our #1 recommended memory foam mattress for the “Budget-friendly, medium-soft” category. Below we list the major pros and cons of the 13″ Ultimate Dreams Gel Memory Foam Mattress

Pros and Cons of the DreamFoam Ultimate Dreams Memory Foam Mattress

The DreamFoam 13″ Ultimate Dreams Gel Memory Foam Mattress is one of the few high-quality memory foam mattresses in the budget-friendly, medium-SOFT category. This mattress has many high-end features like a total of 5″ of visco-elastic memory foam, out of which 3″ are gel-infused memory foam. The gel helps you “sleep cool”. Memory foam mattresses are notorious for “sleeping hot”, and that’s where the millions of infused gel particles come in to play. The manufacturer compares it to the $3500 Tempur-Pedic Cloud Lux which is the softest mattress produced by Temper-Pedic. This is where you need to be careful in buying this mattress. You have to really make sure you need a soft mattress. Is it soft and comfy? Sure it is, and it’s perfect for relieving discomfort on pressure points. However, especially if you’re on the heavy side, and you’re predominantly a back or stomach sleeper, this may not be the right choice for you. We recommend this for individuals who are predominantly side sleepers. If you’re a back sleeper, stomach sleeper, or a combination sleeper, we recommend a medium-firm mattress instead of one on the softer side.

In addition, the Ultimate Dreams is made in the USA. Another advantage of USA products is that they would be compressed and packed only for a short period minimizing off-gassing. In contrast, memory foam mattresses made in China would be packed for a longer period and thus off gassing would be stronger. The fact that this is CertiPUR-­US certified and it comes with a 20 year warranty are also reasons for its high popularity.

Classic Brands Gramercy Gel Hybrid MattressDensity/FeelGel infused memory foam?No. of layersTotal thicknessThickness of memory foamThickness of support layersHybrid or foam only?Made in the USAWarrantyCertiPUR-US® certified
Medium-Soft to Medium-Firm(initially firmer, softens up later)Yes, 2 X 1″ layers = 2″714″2″12″2″ Memory Foam + 3.5″ Comfort Foam + 8″ of individually wrapped inner springs/coilsNo10 yearsYes
This is our #2 recommended memory foam mattress for the “Budget-friendly, medium-soft” category. Below we list the major pros and cons of this 14″ Classic Brands Gramercy Hybrid Mattress

First things First!

The 14 inch Classic Brands Gramercy is a hybrid mattress, meaning it is made out of not only foam, but a combination of foam + inner springs. Yes, it has memory foam (2″ cool gel memory foam), it has another type of foam (3.5″ of comfort foam) and it has inner springs (8″ of individually wrapped springs). If you check the specs we’ve given on this page for different mattresses, you’ll realize that all so called ‘memory foam mattresses’ are made up of a combination of memory foam + a support/base foam. From a practical standpoint, it’s NOT possible to make a mattress entirely out of memory foam (visco-elastic foam), because such a mattress will completely ‘melt’ as a response to your body temperature and you’ll sink all the way to the bottom. This is why ALL memory foam mattresses are a combination of memory foam and support foam. In case of hybrid mattresses, in addition to the memory foam and support foam, you also get a layer of inner springs. This Classic Brands budget-friendly mattress as well as many luxury memory foam mattresses (e.g. from Simmons, Serta etc.) are manufactured as hybrid mattresses. They bring the best of both worlds!

Read the amazing reviews on Amazon.com here…

#2 Recommended Budget-Friendly, Medium-Soft Memory Foam Mattress

What about the popular Amerisleep Liberty Memory Foam Mattress?

Amerisleep Liberty MattressDensity/FeelGel infused memory foam?No. of layersTotal thicknessThickness of memory foamThickness of support layersHybrid or foam only?Made in the USAWarrantyCertiPUR-US® certified
Medium-SoftNo212″3″9″Foam onlyYes20 yearsNo
We don’t want to either “thumbs up” or “thumbs down” Amerisleep Mattresses. On Amazon.com, Amerisleep mattresses have pretty good reviews, but the good majority comes from reviewers that are NOT “Verified Purchases”. Same goes for Amerisleep Revere, Amerisleep Americana, Amerisleep Columbus and Amerisleep Colonial memory foam mattress reviews as well. In other words, these reviewers have purchased the mattress from a different source than Amazon.com, yet the buyer has left a reviewer on Amazon.com. They’re not “verified purchases” in Amazon’s eyes because Amazon has no way of knowing whether the mattresses were actually bought and tested or not!

Companies of the caliber of Amerisleep won’t do this kind of thing, but smaller companies do leave fake reviews to get their ratings up. We like to EMPHASIZE that we’re pretty sure Amerisleep wouldn’t go there. However, we do like and respect reviews on independent sites like amazon.com and walmart.com. Walmart doesn’t market Amerisleep mattresses, so our only option is to go with Amazon.com. With amazon, the majority of reviews are NOT from verified purchasers, and that’s exactly why we’re reluctant to rate Amerisleep mattresses. UPDATE: We found some reviews on Yelp and you’re welcome to check them out!

3. Best Firm Memory Foam Mattresses

Firm memory foam mattresses are best suited for those who predominantly sleep on their stomachs. They may suit certain light weight back sleepers as well. However, firm mattresses are NOT suitable for side-sleepers. Below, we provide memory foam mattress reviews for two of the best in the “firm” category.

#1 Recommended Firm Memory Foam Mattress

Sleep Master 6-Inch Therapeutic Memory Foam Mattress

Density/FeelGel infused memory foam?No. of layersTotal thicknessThickness of memory foamThickness of support layersHybrid or foam only?Made in the USAWarrantyCertiPUR-US® certified
FirmNo26″1.5″4.5″Foam onlyNo5 yearsYes
The 6-inch Sleep Master Memory Foam Mattress gets its firmness from the 4.5″ support foam at the base. The relatively thin 1.5″ memory foam makes the mattress comfortable to sleep on, yet lets you enjoy that firmness underneath it. A queen mattress is unbelievably priced at less than $200. For a $200 memory foam mattress, the only drawback is its knitted cover that cannot be removed for cleaning.

#2 Recommended Budget-Friendly, Firm Memory Foam Mattress

LUCID 6 Inch MattressFirmNo26″2″4″ high-density foamFoam onlyNo25 years
Here’s another sub-$200 firm-feeling memory foam mattress. Although we’ve rated this below the Sleep Master Therapeutic Mattress for this category, this LUCID 6″ Mattress has a couple of advantages over the former. The LUCID (1) has a quilted, bamboo cover which is easily removable for cleaning (the cover on the Sleep Master is non-removable) and (2) comes with a 25 year warranty (the Sleep Master has a 5 year warranty). However, as far as user reviews go, the Sleep Master is definitely rated above the LUCID mattress. However, if you need a high-quality firm mattress, there are better options than memory foam. Memory foam is great for medium-firm and medium-soft categories. But, if you’re looking for a firm mattress, we recommend a latex mattress. If you really want memory foam in it, you can always add a memory foam mattress topper on it!



In conclusion, the very first thing a consumer needs to consider before purchasing a mattress is his or her sleeping position. He/she needs to select a medium firm, soft, or firm mattress based on the sleeping position. We have given details of multiple mattress brands for each of the sleeping positions. We hope our memory foam mattress reviews will help you to pick the mattress that suits you best.


  1. Today the best mattress is memory foam mattress, it provides real comfort, required softness, and is safer than other types of mattresses as well. Thanks for the review.

  2. Thank you for the kind words Nancy, they mean a lot to us! It’s great to know that our efforts are well appreciated!

  3. Glad I came across this site. Very detailed and comprehensive review. I’ve been looking for a mattress to replace an old one and thinking of getting one made of organic/natural materials to avoid chemical exposure. Thank you.

  4. A very comprehensive memory foam mattress review indeed. I had read a lot of good about the Tuft and Needle mattress and I see that you have ranked it number 5. Can you please tell me what the main differences between the Perfect Cloud Ultra- Plush and Tuft and Needle are so that I can decide on which mattress I should buy.

  5. Hello! Thank you for the detailed review. Can you please tell me if there is a Casper mattress review somewhere on Bedroom.solutions?
    Thank you!
    Macey N

  6. Thank you for this wonderful article. I am researching mattresses to buy and your article addresses and answers many of the questions I have regarding the quality and rating of foam mattresses. You have it covered in just this ONE article. I will be looking at your other articles in hopes of the outcome of buying the best possible mattresses for my sleeping type.

  7. Thank you for your question Mandy. Unfortunately, no we have not reviewed this viscoelastic mattress yet. I hear it’s a very good one and we’ll be posting a Zinus memory foam mattress review very soon. Thank you again for your interest!


  8. Hi again,

    I hear that the Zinus memory foam mattress is a very good model; do you have any experience with this mattress? Have you done any zinus mattress reviews?

    Mandy K

  9. After reading your review, I think I’m going to buy a cool gel memory foam mattress. Are you sure I don’t need to buy a $2000 Tempurpedic mattress? I feel a little insecure to go with a $500 mattress! Do you have a detailed Perfect Cloud ultraplush mattress review somewhere on bedroom.solutions?

  10. Hi Andrea, great question again. However, please note that you buying a synthetic mattress will not stop killing sheep. Whether you buy the Brentwood home memory foam mattress or not, the same number of sheep that will be killed per year will be killed!
    Generally, natural is better than synthetic, whatever the material might be. We don’t account for the environmental pollution that can potentially take place during the synthesis of synthetic fiber. When you account for that, sometimes, you’d rather kill a sheep than pollute the environment and water with synthetic garbage

  11. On your Brentwood Home memory foam mattress review, you say that it’s made of all natural wool. I’m not sure if that’s a good thing or not. If I buy a different memory foam mattress brand, would that mean one sheep would be spared? With all the development in the technology one would think that there would be synthetic substitutes to wool etc. but apparently NO!!@$? I think I’ve made up my mind, I’m going with an Ultimate Dreams Supreme viscoelastic mattress.
    Andrea, Vermont

  12. Is the Perfect Cloud Ultra Plush mattress a cool gel memory foam mattress? How do you compare it to a Beautyrest, Simmons or Tempur-pedic? Isn’t Tempurpedic obviously better than the Perfect Cloud Atlas and Ultraplush? What are your thoughts?
    Mirna, MN

  13. Howdy Adrian,

    Thank you for an excellent question. Since we have already addressed the problem under our review of the best memory foam mattress toppers, can you please check out the infographic there? If it’s still not clear, I’d be glad to help you out. Lem me know.

  14. Howdy!
    I’m predominantly a side sleeper and I get a back ached if I sleep on my back

    or my stomach. What’s the best memory foam mattress topper for side sleepers

    like myself? Which brand of memory foam topper would you recommend?

  15. Great question Mandy. We have a detailed comparison of the Perfect Cloud UltraPlush Gel-Max and the Perfect Cloud Atlas Gel-Plus on https://bedroom.solutions/memory-foam-mattresses/perfect-cloud-ultraplush-and-atlas-reviews/. As for the price, as of February 8th, 2017, I see that the prices are identical for the two mattresses. May be they changed the price since you last checked it up.
    The major difference between the two is that the Ultra-Plush has an 1.5″ thick air-infused memory foam layer right at the top of the mattress. The air-infused memory foam layer further absorbs the heat from your body and takes out the heater air out of the mattress. This helps the mattress cool down and lets you sleep cool. This is especially recommended for those who sleep hot, those who sweat at night etc.
    That is the major difference between the Gel-Max and the Gel-Plus. Both are high quality cool gel memory foam mattresses. There are hundreds of Perfect Cloud Ultraplush memory foam mattress reviews from customers that you can refer to before you purchase either one of them.
    Hope we answered your query.

  16. Awesome mattress review; highly appreciate it. I have a short question and hope you’ll be able to clarify it for me.
    What is the major difference between the Perfect Cloud UltraPlush Gel-Max and the Perfect Cloud Atlas Gel-Plus. I see that there is a small price difference between the two memory foam mattresses and I’d like to buy the cheaper one. What is your advice?

  17. @ Kelly N,

    Hey, thanks for your question!

    First, about the medium firm and firm. Firm mattresses, whether they are memory foam, latex, or innerspring, are generally about 7 our of 10 or more on a firmness-scale out of 10. In contrast, a medium-firm mattress would score about 5 out of 10 on the same above scale. A soft mattress will be about 2-3 out of 10 in the firmness scale. A really firm mattress is most suitable for people who sleep on their stomachs while a medium-firm mattress best suits those who sleep on their backs. For you and your husband, we recommend a medium-soft mattress. A soft mattress might be too soft and cause back and neck problems. Basically, any medium-soft mattress will work. But we will particularly recommend the DreamFoam Ultimate Dreams Gel Mattress. This will feel like heaven for a side sleeper. Even a more expensive Temperpedic or Beautyrest memory foam mattress will work as long as they are of ‘medium-soft’ firmness; however, you can save a ton of money by going with the above Ultimate Dreams cool gel memory foam mattress. Hope that helps you and your husband!

    Also please refer to https://bedroom.solutions/mattresses/mattress-type-by-sleeping-position/ that discusses about the best type of mattress for different sleeping positions!

  18. I found this very educational, glad I came across this before blindly buying a mattress from my local store. I sleep on my right side, mostly. My husband is also a side sleeper. Can you please point us to the best memory foam mattress for side sleepers? Also, can you please clarify the difference between a medium-firm and firm mattress?


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