Durability of Mattresses

Hello,
We are looking for a new mattress. We have a memory foam; after 3 years, it has loss support. There are usually 2 adults and 2 toddlers in the bed realistically. (We like to think it will be just 2 adults and a good night's sleep). We get short sleeps, but when we do sleep, we want it to be as restful as possible. We are looking for quality and durability. What would you recommend? I am a bit put off of memory foam and am wary of latex for fear of having to replace it after just a couple years. I have heard wonderful things about both and have even slept on a latex for a time (although I felt like I was on fire). I would like to be open-minded to all options. Thank you.