It depends on what position you tend to sleep in. If you’re a side sleeper, a softer mattress might be fine and helps accommodate your curves to keep your spine straight. For stomach and back sleepers, firm mattresses are nice because they offer more support for the spine and help keep things aligned as you sleep, rather than sagging and having weird twisting/pressure on your spine.
From having worked in mattress sales, neither harder nor softer is better for your back. Different regions of your body need different levels of support. An orthopaedic mattress should be doing exactly that. Softer around the shoulders and hips, because they’re heavier and need to sink in more and firmer around the lower back to maintain your neutral spine alignment whether you’re on your back or on your side.
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