I also recommend the memory foam beds. Instead of the Tempurpedic, though, we purchased one of the knock-offs from Costco (queen size was $600ish). Have had it for 8 years now and is just starting to show its age. Not sure how long the Tempurpedics last.
As an aside, I have RLS-like symptoms - the bed has not done anything for them. However, what I have found that absolutely works for me, is developing strong core muscles. Can't say it would work for everyone as my symptoms are not classic RLS but it can't hurt to try.
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