Pillows are your best friend while pregnant. Because I couldn't roll over in bed, I'd have to sleep at the bottom of the bed if I wanted to change sides, which would be about every 90 minutes. Maybe find a belly support belt for the belly pain.
I'm 41 weeks pregnant. I've been sleeping on a couch for the past 8 weeks. SO much more comfortable than the bed. :) At this point, life becomes about doing whatever helps you relax. Whether that means sleeping in bed, on the couch, or in a recliner.
You could try a pillow between your legs and another wedged under your stomach for support. Just try to sleep on your side. Back sleeping is not very good for baby at this point and can give you some back problems too.