We both are side sleepers, my hips were hurting so bad I could not sleep in ! 
My husband has had surgery on both shoulders and would wake up hurting.
We thought the Helix Sunset Luxe, was too soft at first. We were amazed that once you lay down the mattress returns to full support.
We both have noted that our hips and shoulders do not hurt anymore. We love our Helix. We did a lot of research prior to buying our Helix. We are not disappointed and would definitely tell our friends and family that the investment in the Helix is an investment in yourself.