Murphy bed/wall bed
 

Does anyone have a queen size Murphy bed or wall bed the is really comfortable?

A Murphy bed is like any other bed, it completely depends on the mattress you choose

Use a full thickness mattress. It will require a deeper cabinet to hold the bed and mattress. Ours sleeps just like a regular bed. In 6 years no guest has complained.
We used Wall Beds Plus in Oxford just off hys 301 and466. They custom build the cabinets and sell various mattresses. They have a great showroom with lots of ideas.

I highly recommend Visit Our Leesburg Murphy Bed Showroom - Murphy Office. Their price is a little more than the other local stores but their quality is exceptional. Do what I did, shop all of the local stores, check the construction, check if they use real wood and then look at Murphy Office. You will see the difference. PM me if you want to see mine.

IMHO, you may only need to change the mattress, if this is the case, then I would go shopping for a replacement mattress and see if you can find one that fits the existing wall bed and has the firmness you like. I have no idea if any of the sleep number products would work, we used one for around 10 years, I like sleeping on a rock and my wife likes clouds, a king size with separate controls was perfect. If a sleep number queen size will fit, then you will have an ADJUSTIBLE mattress for you or your guests.