Me and the wife bought a bed called "Sleep To Live"
http://sleeptolive.com/four_questions/sleeptolive.html
Site does not list prices, and you go through a diagnistic test to determine which bed to get for you (and your wife, husband, whoever), and then they make the bed for you. My wife has a different side than I do as far as how firm the bed is, and it never needs to be turned over, and has a lifetime warranty.
Very expensive, but huge, great, and worthwhile investment, I have a real bad sleep issue, and I rest so much better with this bed.