Sounds very familiar. It is your arthritis doing this to you, I used to feel the same way. I went out and researched mattresses and found one that supports me properly and it has made a difference in the amount and quality of sleep I get. I used to sleep around 1-2 hours and then wake up, go back to sleep and repeat. Needless to say I was tired, now I can usually sleep around 4 hours straight. I do feel better in the mornings now, I do have the occassional morning like you described. The only things I can suggest are, support your legs while sleeping, use a pillow under your knees if sleeping on back, or between the knees if sleeping on side, it relieves some of the pressure on your hips and ls, and should help with the stiffness in the morning. Find a mattress that you like and supports you well, fwiw I didn't buy any of the mattresses touted for their support system, I found one that I liked and supports me. Good luck and hope you find some relief.