Soft!  Do not wake up with pain in my shoulders causing me to keep turning over. No matter what position I’m sleeping in, wake up with almost nil pain. Should have purchased this dream bed sooner.  
The only problem I have encountered because of the new height, there is a tendency to slide off. It could have been a bit firmer all around the edge to prevent this. And I did ask that question but was told the way it was built that would not happen.  And my older dog has problems jumping onto it and jumping off.  So may have to buy some stairs for him. 
Love the bed