You’re supposed to have a doctors appointment every 4 weeks and you should be able to see your baby at every appointment. I mean I do, but I guess it depends on the doctor or hospital. I have Kaiser permanente who do you have?

The 36 week US is to measure, check position, make sure baby is ok and check fluid levels

Really no reason for it unless you’re high risk. I know it’s hard to wait but thankfully it means you have a healthy pregnancy.