Go look into seeing a chiropractor. Your pain could be from your hips being out of alignment, possibly a pinched nerve, or even both.
I was feeling the same! My pain ran from the tailbone to my hips! I'm 22 weeks as well! I just took a warm shower and feeling so much better!
Unfortunately these are normal pains :( you can take tylenol or benadryl. I use benadryl for the nights where I really cant relax at all. You can use a heating pad on low or try some gentle massage on your hips. Your past the halfway mark so just a little bit more to go. Good luck mama :)