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After sleeping on a firm mattress for many years as I got older approximatly 40 I started to wake up with my arms and legs numb and achey!
I was only comfortable sleeping on my back!
Since sleeping on the temperpedic mattress I wake up less,without numbness or aches and can sleep comfortably in any position.
There are several thicknesses (I believe 5) to chose from my choice was the 10" which I found to have the right balance of firm & soft !
I would recomend this brand to anyone,but suggest going to a retail store that carries several models to see which level of firmness will suit you.
PS: Most stores will steer you to other brands of foam mattresses (I think the have a higher profit margin)