I have had the same issues, mainly hip pain. I haven’t found a solution other than having to flip back and forth like a rotisserie chicken. In between flips I’ll lay on my back for a few minutes and bring one leg up at a time in like a froggy position, that seems to sort of reset the soreness for me for a bit. I do sleep with a pillow between my legs which kinda helps I think.
I put a body pillow behind my shoulder and hip on one side. It allows me to sleep on my back, but I'm not flat. I'm usually a stomach sleeper, but for the past few weeks I've been more comfortable on my back
What @Ellie said!!! I have rheumatoid arthritis and this has been the hardest thing for me! And faking sleeping on my back is helpful! Also check with your doc but my doc said no back sleeping starts at 28weeks or when it becomes uncomfortable. I’m 19 weeks and it’s already uncomfortable so not that much difference but is nice to know I had a bit more flexibility.
I’ve basically forced my husband out of our bed with my snoring to the spare room 😂 that means I can sleep in the middle of our bed with my u shaped pregnancy pillow, and put some normal pillows underneath each ‘arm’. This means when lie in the middle of them, I can ‘lean back’ onto the arm/pillow periodically, which gives my hips a break and means I stay at an angle. You do need a lot of room for that tho!