The comfort level of a mattress should be based on your personal preference and has nothing to do with how much support it provides. A medium-feel mattress is popular for those who sleep on their side or back as it provides enough cushioning for pressure relief for hips and shoulders and where your body weight exerts the most pressure, but not too soft.
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Not too soft and not too firm, a medium feel mattress might be just right for you – soft enough to cradle your hips and shoulders but firm enough so that you don’t really sink into the top layer.