I can't offer a comparison as I've never slept on Tempur but we have a latex mattress and I LOVE it. Mostly because I am a very light sleeper and whilst DH is a big guy, he can wriggle about as much as he likes and I don't feel a thing. It's nice and firm, super comfy and feels just the same as it did when we bought it almost 9 years ago.

I have never had any concerns about co-sleeping with it.