I don't know if they are available in the us, and with the current tariff war they may not be worth it, but we bought a Canadian Douglas mattress about 5 years ago and it has been superb. Most comfortable mattress we have ever slept on.
It gets delivered in a box, and expands when you take it out. They have a trial period of 6 months, 9 months, or something like that. If you decide not to keep the mattress, they refund your money and rather than sending the mattress back they find a local homeless shelter or other charity to give it to.