Help finding new mattress/topper

Bought a random king size memory foam mattress off Amazon a few years ago. I thought it was great until I slept on two separate mattresses and felt like a dream. First one was at Coronado springs in Disney. Was amazing. And recently I just got off the celebrity Constellation cruise and that bed was HEAVEN. Now I wake up on my bed with aches and pains. Bed is too firm, which used to be beneficial to me but as I get older it's not. I'm 6'2 210lb side sleeper. My wife is 5'7 130lb side/back sleeper. I did research and you can get the Disney bed but it's like over $2k for it. Can't find anything on celebrity one. Can someone please recommend something similar but more reasonably priced? How are the ones on Costco website? They look to have their version on stearn and foster, is there an equivalent I can try out at mattress store? Any help would be much appreciated.