Yes, the Avocado warranty covers body impressions (ie: sagging) in the mattress greater than 1″.
The indentation must be visible to the naked eye when no weight is applied to the top of the mattress.

To be covered, the sagging must not be a result of improper usage or the result of an improper foundation or bed base. As a result, you should make 100% certain that your foundation, box spring, slats, etc. are acceptable and approved by Avocado to avoid any warranty issues.