Baby lying diagonally, almost transverse.

I'm currently 3ish days past my due date with my second child. I went for a sweep last week but my midwife didn't manage to do it for multiple reasons.. Apparently my baby is also lying diagonally, his head is sort of in my hip area. I've been doing everything I can to get him head down but even looking at my bump I can see he is still diagonal. Bouncing, curb walking, yoga, long walks etc.. Has anyone else experienced this? Were you still able to deliver naturally? Any advice to get him fully engaged? He is apparently bobbing in and out of my pelvis.