Ask for a leg massage...that at least relieves the pain for alittle with me to help me fall asleep.
I usually drink a glass of milk and it settles within 20 to 30 minutes. And I also have tried eating a banana before laying down and that helps too. Good luck!
You may want to try yoga for pregnant women or physical therapy. I was having the same issue's to the point where my leg will go out. After 2 weeks of doing the therapy and having some movement and applied pressure in my lower back and legs it really helped me. Best of luck to you.