The only thing I can think of offhand is chamomile tea. Might see about getting some for myself, now that I think of it. It doesn't work the same for everyone, but it is a well-known relaxer (if memory serves, Celestial Seasonings' Sleepytime tea has chamomile & spearmint), and nothing puts me out better. Worth a try, at least. See if you can't take 20 or 30 minutes before bed to relax, take a warm bath, read a book, listen to soothing music. Stuff like that. It will help with the psychological stuff, at least.
The physical stuff...that's harder. I do practically worship my spare pillow these days. Sleeping with it between my legs is for some reason about a thousand times more comfortable than doing without. And it's just a plain old pillow too. I had a special wedge pregnancy pillow last time that never helped a bit...
Unfortunately, I know from experience that the only thing that will cure all the aches and pains and uncomfortableness is childbirth itself. So for now, get your sleep when you can. Good habit to get in for the newborn days. If you get sleepy in the afternoons, do what you can to get in a nap. It will throw off your sleep cycles some, but the way I look at it is, I'm not sleeping at night anyway!
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