I love my BMBH and almost fell asleep in it first time i hung it (this is easy when you're old like me).

IMHO

Side-sleeping -check.
Sleeping on stomach -works for parts of the night -same as my matress at home.
Pillow required -check; but clothing in a stuff sack works too.
No back, knee, or leg pains, or stiffness -check.
Shoulder' touching sides -check; but not with a pad loaded (and I usually sleep on side anyway). Then again, I'm not built like an NFL lineman...
OK as a lounger but not great -check; but works well enough as a lounger to cook, change shoes, fiddle with gear, and enjoy the scenery.

Still, bodies may vary
Those here recommending it is best to try them all then buy the one you can't do without are wise.

I also use a Nano 7 for day trips -as more of a lounger.
Some say the Nano 7 sleeps well but i can never get comfy enough in that one to last more than an hour or so at a time. Spoiled by my BMBH...and curious about Brandon's new bridge too.