I am 25+3 weeks and yes, it is difficult for me to sleep too! I share my queen sized bed with 3yo and hubby (3yo in the middle), and it can get a bit cramped at times. I feel that it could mostly be stiffness in my back, leg cramps and Symphysis pubis dysfunction (SPD). I place a pillow (or hug a bolster) between my legs, it helps to balance out the pressure for SPD for me. Lie on your left, it is better for circulation during pregnancy. Hope you get better sleep soon, mummy!!