For me the answer was to get twin adjustable beds. Costly but worth it. I can raise my head and legs to any position that's comfortable. . I sleep on a hard surface ,my husband prefers the soft side I can lower or raise the bed to get in and out. If i am having movement ot tremors my husband isn't disturbed since he has his own separate mattress, requires extra long twin size sheets...

We bought a profile bed some years ago but he was never comfortable on that. He found it difficult to get in and out of bed. The height of the bed too is important. It should be the same height as the distance of the crook at the back of the knee to the floor. His feet should be able to touch the floor when sitting on the bed. We changed the mattress to a foam mattress and now have less of a problem he's sleeping better too!

We just went from a waterbed to a new mattress with mini-coils in it. It makes it much easier for him to get in & out of bed, but we had to add a 2 inch memory foam topper for me to be comfortable.

costco did sells a 40 dollar sleeping pad for campers. -- i sometimes use it on the mattress or sofa and it helps. other times not. sometimes drainage block my breathing - i use a zero gravity chair --60.00 at costco. sleep ok in it too!

good luck
len