Try slerping on your side with a pillow between your legs, Top leg forward. And a pillow behind you. Lean back against the pillow to take pressure off your hip but stay on your side. Switch sides during the night. It helps me a bit but sometimes it just gets too bad.
Good luck, I (and many others) feel your pain
You might try sleeping in a recliner? It may help get pressure off your hip.
I'm also athletic with injuries here and there from the good old days and carrying low so hopefully that helps you too.
I can't get up from laying or sitting without pain in my crotch area right now lol
You're not alone dear
Sometimes you just have to bear with it if the baby is on something. My pubic area hurts like the dickens for the past few days and still today.
Try using a fluffy, thick, body pillow along your back when you sleep. It let's me not be completely on my side but let's me sleep at an angle to take pressure of my shoulder, hips, etc. I wake up way less to change positions and don't have much pain waking up.