I just have to add this bit-- mentioned it over in the Feb group, where I also spend some time (since I'm due March 1).
As far as sleep and discomfort, I was getting cranky from some hip and pubic symphysis pain, along with the relaxin and side-sleeping aggravating a running injury (hamstring tendon) from last year. I finally realized my best bet was to get a sleep wedge and lie on my back, just quite a bit elevated so I won't compress anything (until the baby is significantly bigger, anyway). I splurged during a Black Friday sale and bought, well... A Liberator ramp. Okay, the ramp/wedge combo-- I had always wanted one. (I won't link it, as it primarily has "adult" uses, but you're welcome to Google at your own risk.)
TBH, DH and I haven't gotten the hang of it for the "intended" purpose, though we'll give that another go soon. I get the feeling that it was designed with a man over 5'8" in mind-- or a man significantly taller than his female partner-- DH is only 2.25" taller than I am. But I'm sure we'll figure it out.
It has actually been brilliant for sleeping, in any event. It takes me a little longer to fall asleep on it (I think because I'm used to being able to toss and turn a bit, and I can't now)-- and DH calls me "corpse on slab," LOL-- but I have almost NO pubic or hip or injury pain in the morning. It's pretty awesome for now.
I'm sure there are cheaper alternatives, but what I like about the ramp is that it's so big, it's firm, it really supports you and it lifts you up quite a bit (no numbness like I often get if I roll onto on my back without pillow support).