You're allowed to take Unisom. It can make you wake up a bit groggy, but you'll definitely sleep.
Non I don't have one of those I just put regular fluffy pillows under me... But I still tose and turn... No matter what side I lay on
Do you use a pregnancy pillow? If so they can be great to help you get comfy, I had one under my belly and sometimes one in between my legs throughout my first pregnancy and it really helped :)
Sleep is aggravating at best in the third trimester! I try to prop myself up w pillows. I'm thinking about moving to my recliner to see if that's more conformable