I have a thick foam pillow that I've been sleeping with in between my legs. It's helped with restless less, the spreading of my hips and my back doesn't hurt when i wake up. Also walking in the day, stretching and yoga will help alot.
Unforntunately it doesnt stop until after pregnancy, i had that with my twins and with this one. I usually rub my legs and then take a walk around my house before i lay down. Sometimes i have to take some benadryl before bed to help me sleep. I know its horrible but talk to your dr also they might have some ideas for you also.