I also had a lot of trouble finding the right position in which to sleep to feel comfortable (not even talking about finding the right mattress/pillow combination).
Somehow, I trained myself at sleeping on my back (I was a big stomach sleeper). It's actually easier than you think. Couple that with counting backwards from 200 to 0 - and starting over whenever I reach 0 or forget where I was because my mind wandered - and I now fall asleep well within 1h on average.
Now I don't have any pain at all when I wake up, I don't need to spend hundreds on finding the right pillow/mattress combination and I have less trouble falling asleep. I don't actually think about it a lot, but I'm only in my 20s and I can't fathom the life problems I avoided solving this one early on. I'm really happy.