Crib mattress similar to bed mattress?

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Anyone have a crib mattress that feels like a regular bed mattress? My son sleeps wonderfully in our bed, but sleeps poorly in his crib. While it could just be that he prefers being near us, I feel like his mattress could also not be as comfortable. I’m not sure what’s safe/unsafe at this age..do mattresses still need to be pretty firm? I see a lot of foam mattresses but again idk if it’s safe. He sleeps on his tummy most of the time as well.

Any tips appreciated, I need my bed space back 🙃🙃