Recommendation of best mattress for an 85 kg woman

Hi I'm 85 kg woman and my husband is around 80 kg we are thinking of either sharing a king-size or having to single together. We need a mattress that gives this good support but I don't think I can stand it to be too soft or too hard . I have tried and returned now several mattresses for example hesseng from IKEA was rockhard and I could not get used to it even if I tried for two months same happened with Lisa I found it too soft and the problem was that both of them gave me severe hip pain and sciatica. I also tried Bruno, who ended up being quite comfortable but the foams got deformed and I simply had like a mountain between my husband and I and to kiss good night to my husband had to climb a hill.
I am really confused I'm currently sleeping on a cheap mattress with a topper, I need a proper solution as soon as possible.
I am mostly a aside a slipper alrhough I change positions all the time ( probably because i not comfortable) my husband is a side sleeper definitely.
Which of your mattresses would you recommend in my case? Thank you very much in advance