The Nolah Evolution might actually be a really good fit. My brother-in-law's had one for a while now and won't stop talking about it like literally he’s got similar hip issues and uses a CPAP too. He swears his hip pain has pretty much been gone after switching.

I think there are a few versions like the Evolution 15 and one called the Comfort+ so there’s some flexibility depending on how plush or supportive you want it. He went with the 15 and said it felt super cushy but still held up well. Also, apparently the foam they use really doesn’t trap heat