We tried a Sleep Number at a hotel and hated it. Made our back problems worse.
After a lot of research, a couple of months ago, we got a Leesa mattress (online store, foam mattress-in-a-box thing), and aside from some outgassing issues for a few weeks making me physically ill, it's been really good for both of us. We both also have back and hip issues, and they have been improving on this mattress. There are several bed-in-a-box companies you could research, and Google can find you reviews of them. Sometimes you can find floor models to test out in local furniture stores, if you're lucky.
As spouse & I age, we find that foam mattresses just work better for us than inner-spring. We prefer memory foam, but latex foam does have its bouncy charms. We did have to start out with a foam mattress topper, but over time, as the mattress breaks in, we may not need that anymore.
Good luck.