We also have a pair of foam pillows we love. I think it has "broken in" meaning the gel/foam has settled into a soft yet firm. Just enough give to contour our bodies, but we don't sink too deeply into the mattress. The gel really does work well together with the very comfortable foam underlay. Together they provide a very comfortable mattress.
We both like our mattresses COMFORTABLE. And this mattress was comfortable. It does have that nice layer of gel, so that allows just enough top softness which allowed us to settle in nicely as we lay down. You can sleep on your side, yet there is enough stiffness there to prevent you from sinking too deeply into the mattress.