Yeah, the chiro saves me during pregnancy. My right hip regularly gets out of whack, making one leg shorter than the other and really painful. It's all the relaxin in our systems!
I would suggest more pillow support for you. I ***love*** my Snoogle body pillow, and then use 2-3 pillows in addition to wedge myself in. Also, don't be afraid to sleep on your back, particularly if you have a pillow under one hip or the other - your body WILL tell you if that position becomes an issue - you'll feel sick or light-headed and then you'll move. I checked with my midwife about this, because I HATE being confined to my sides, I get so sore and she confirmed that back-sleeping is not a problem, especially if you do the pillow-under-one-hip trick and listen to your body.