I like the Custom Comfort XX Firm. We’ve topped it with a 2 inch Serta memory foam. It gives us the memory foam cushioning for pressure points with the underlying firmness to get support. We bought an extra thick cotton mattress pad/cover to get breathabilty on the memory foam.
I’ve tried the tempurpedics in the stores and the higher end ones are better about that sink in feeling.(Rhapasody II etc.) I couldn’t stand the classic tempurpedic within minutes of lying down on it.