C.M.
My husband and I have a Tempurpedic bed. We have the one with the pillow top. When we got it 3 years ago, it was the top of the line. We started with the upgraded mattress (it was thick, but no pillow top), but I was not that comfortable. I have shoulder issues and I needed a softer mattress. Tempurpedic does a trial for 90 days. On day 87 we went back to the place we bought the mattress and upgraded to the pillow top mattress, we just paid the difference in cost and delivery. After about 30 days, I was very comfortable on the mattress. My husband (like yours) can sleep on the ground comfortably, but we both sleep very well. I would recommend at least trying a Tempurpedic for the 90 days. We looked at the sleep number bed, but my number was so low when I rolled on my side, I literally was laying on the bed frame.
I also now have a water pillow. There is a pocket where you can put water to make it firmer or softer depending on the support you need for your neck. I didn't like it at first, but now I think it is great.
Good Luck finding something you both like.