The mattress is a little to firm for us. I also purchased two twin mattresses that are way more comfortable than the queen, even though they are the same model, so maybe ours is defective?
The mattress itself is really hard and uncomfortable. It reminds me of a futon bed. However, customer service was really great and got me sorted with a mattress topper that made all the difference. I don’t like the mattress alone but now it feels like sleeping on a cloud.