Like no matter what I'll do it'll hurt some way and I lay with a pillow on my lower back because it stretches out my lower back. But I lay on my tummy cause it feels better when I apply pressure.
I would say it gets easier, and it can depending on your body. mine got 5 times worse around 34 weeks and continued until I had my baby. I was told to take Tylenol if it got too bad, I'd ask your Dr first though. hopefully it'll get better for you