New mattress needed for 86 kg & 95 kg, both side/back sleepers?

We are long overdue a new mattress and are totally lost in any mattress dept/shop. I am 5 ft 7 and 68kg - side and back sleeper (on awakening often suffer from sore hip and/or shoulder). Husband is 5 ft 9 and 95kg also a side and back sleeper. Both agree our 12 yr old mattress and various toppers need to be replaced!! Any suggestions welcomed.