Tiger Balm is amazing for pain relief during pregnancy. It's sold at Target (and pretty much everywhere)
Im also having these pains and its keeping me awake at night. Ive massaged castor oil around the sore muscles and joints and that seems to relieve the pain.
Try seeing a pregnancy physio. I have a similar sounding pain and mine is in the sacroilliac joint. A common issue during pregnancy due to the relaxin hormones allowing your pelvis to stretch and loosen for childbirth. Ive found a gym ball and exercises very helpful.