Try sleeping with a body pillow, this is my 3rd pregnancy & I learned from the first one, as soon as I found out I started sleeping with one. It helps so much, you can put it between your legs and under your stomach.
You can get them from kmart and other department stores usually and theyre only $9 here so its a good thing to have
Target and Walmart sell them also, like she said ^^ for about $9-$10