I can't stand hard beds. Used to sleep on a reasonably soft mattress with a pillow under knees, but a few months ago was given a bed-sized thick memory foam pad as a gift. Now I don't need any pillows, and sleep nice and stretched out on my back. Moving around on the foam when sore is challenging though, and sometimes I have to literally roll out of bed to get up.
Hard chairs are very bad too. I sit a lot in computer chairs, which tend to be decent.
