I did this from week 24-27 it was very painful at times just the weight of the baby putting pressure on your hips it will get better good luck !

I have idiopathic arthritis in my joints so I've had this all my life including before I was pregnant. Try different positioning or the pillows

I get that a lot. I started sleeping with a pillow between my legs and it's helped a little bit

it's very annoying!

even not pregnant I can't lay on my sides because my hips and legs go numb. I have to lay leaning forward toward belly , knee up. it's annoying