I put pillows on both sides of myself and between my legs just pretty much take two body pillows and surround yourself with them im 31 weeks and it definitely only gets harder :\
Are you normally a tummy sleeper? It's safe to sleep on your tummy as long as you find it comfortable. Myself I make do from side to side once tummy is out.
Only way I'm comfy is sleeping on top of my fiancé lol