We upgraded with a Tochta mattress. My wife is a regular (as they call it) softness but I needed my side to be firm.
When we received it even though I chose a firmer foam fill my side was still a little softer than I preferred. I call Tochta and they shipped me (free) another foam pad for my side. Perfect now.
This is a foam mattress and we love it. Not cheap but we both sleep really well in RV. My DW says she sleeps better. They also do all kinds of custom builds..Check them out..
https://www.tochta.com/?gad_source=1...4aAr6TEALw_wcB
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2016 Siverback 33IK, Towed 60K+ mile
2018 Ford F-350 Lariat 6.7L V8 Diesel 4WD Crew Cab
"If you don't know where you are going, any road will get you there."