I'm 36 weeks ( with baby #2 ) as well and have been going through the same exact pains. My OB calls it rickety hips or so. It's painful from time to time and she says because they are close in age (17) to be exact and I didn't give my body enough time to heal properly. First baby everything was tight and in place as far as no loosen joints or ligaments but so far I've just lighten up on physical activities with my 16 month old and it's helped just a tad.
Also, probably baby sitting on nerves causing leg to fell that way! I had this as well more so though with first baby! Keep moving positions. I found this time around being active as long as possible helps and moving positions....
It's called lightening crotch lol! I have it and had it last pregnancy as well!
I had that my last pregnancy towards the end only mine felt like if someone kicked me and it was bruised and maybe your leg is feeling odd due to the baby putting pressure on your back and that leading to it hitting a nerve