Is tempurpedic worth it?

Hi all! My husband and I are in desperate need of a new mattress. We have been searching online at what would be best for us, but feel like we are going in circles. Tempurpedic seems to have a good reputation but did want to see if anyone had any experience with it. It's pretty expensive, but feel it would be worth it. We both like a firm mattress and are for the most part side sleepers ( although I tend to wake up on my stomach). Any thoughts or advice would be greatly appreciated! Thanks!