I'm also a side sleeper and sometimes my hip and arms hurt. Got a memory foam mattress topper from Amazon and DH with his bad back likes it too. The mattress is firm (for him, I hated it) and topper is 2 inches thick and so nice. It had a foam smell but within 2 weeks it was totally gone. It was @ $130 for queen size. Now my kids each want one for their dorm beds. Bed is firm underneath, but foam cradles my limbs.