We have the Select Comfort / Sleep Number setup as well -- very happy with it still after ~2 yrs. In my younger days I was not a fussy sleeper at all. I could literally sleep on the ground (backpacking) with no padding, or whatever, it didn't really matter. Now that I'm pushing the big 4-0 it matters quite a bit more
I don't see spending $5+ K on a mattress set any time soon, though!?!?!