Deciding on new mattress

My wife and I are in need of a new mattress, I sleep on my stomach a lot but I move a lot and end up on my back some mornings, my wife usually goes side-back pretty shortly after falling asleep. We have a 10 ish year old Sealy pillow top that is sagged out and hurts pretty badly every morning.

We went to a few local stores and checked out some beds - were both really liked the foam mattresses but I've heard they are really hot. We both run hot but kinda need to be a little warm to fall asleep - just worried about being too hot. Want something that will last atleast another 10 years minimum.

Anyone have any suggestions? If you need more info I can provide. The ones we both liked were the Serta iSeries NGX1300 medium and a Tempurpedic Support medium hybrid