Side Sleeping Guidance

As I've been getting older, one of the biggest difficulties I have been facing is poor sleep due to being a side sleeper and struggling with thigh/hip pain from gravity.

This has been a huge part of my motivation behind weight loss but I'm starting to really struggle with getting enough sleep. I've tried using pillows/bolsters to raise my feet, leg pillows to separate my thighs (for a better spine position), replacing the old mattress with a newer one...

But it's feeling like none of these help. They can slightly relieve some of the pain but never enough that I'm comfortable. Does anyone have any advice or suggestions for things I might not have considered? Or how to improve what I'm currently doing to get more relief?