Javan, re: " I'm mostly on my side, but I toss and turn." + other info in your OP.
Me too, maybe moreso. I can't sleep on air mattresses because I feel like I'm lying on a bubble. All the bells and whistles, like on the NeoAirs, don't make any difference. And thin, closed cell foam pads don't cushion enough and leave me sore.
The alternative is the so-called 'self-inflating' pads, although they don't really self inflate anymore because the foam is perforated or partial in others ways to cut weight, and won't expand enough to inflate the mattress by itself in a short time. So I'll just call them hybrids - part inflatable & part foam.
Roger Caffin did an article here a year or two ago reviewing a number of the hybrids, including measurements of R value. As I recall, the Exped, Nemo Zor and the lightest Thermarest were the best rated, and the Exped had the best R value. Since I don't camp much in weather much below freezing, the Nemo Zor works best for me. The foam is less spongy and is much more comfortable for me than the Thermarest.
The Exped is heaviest, but the additional insulation would be needed for colder temps.
I just use a shorty, about 4 feet long, that covers me from shoulders to knees, a pillow made from a stuff bag and whatever I don't need to wear to keep warm in the bag, and light thinsulate booties that keep my feet warm. Because I'm constantly turning from one side to the other, I need a bag with a slick surface that will slide over the pad when I turn over, and so not require a pad much wider than 20". The MontBell spiral down bag is slick enough for this purpose, and the Nemo comes with silicone chevrons on the bottom to help keep it from sliding on the silnylon tent floor, so that has not been a problem.
I can have trouble sleeping due to all kinds of past injuries and arthritic pain (won't enumerate the parade of horribles), but the above arrangement works fine. Unlike trying to figure out how much to inflate the Thermarests, the Nemo works fine when inflated to its full shape without blowing in extra pressure. It only needs a few puffs.
At one time I had to use a hybrid Thermarest sandwiched in an outer cover with an open cell foam sheet just to get comfortable. Not only was it quite heavy to carry, but I don't need it now that I do stretching exercises learned in physical therapy, and refrain from inflammatory substances. In worst cases, I use an NSAID, Nabumetone because it has the least effect on the stomach, to keep inflammation at bay.
I understand that these types of pads can be miserable if the bond between the cover and the foam wears out. That hasn't happened with the Nemo so far.
Roger's article was excellent and I highly recommend it. If your membership doesn't cover access to articles, I think it would be worth the $20-25 annually. There are tons of articles in the archives that are just as valid today as the day they were written.
Hope this is helpful.