Try to find a good support pillow (eg pregnancy pillow and support wedges) and experiment on the position and arrangement so you can get comfortable when sleeping.
Same like me.. If i stand or walk for around 15mins my thigh will start to have the pins n needle feeling... 😭
Omg.. i have the exact same pain n numbness. Can try prenayal massage
Prenatal massage is a good option
Massage
An Lela Liyah