Me at 29 weeks. No urge for sex.

Yes so long as you don’t have any underlying medical or baby issues. But make sure to find the best position that avoid any harm to baby. And be alert for any after bleeding or strange discharge or symptoms as it could mean something is wrong.

You can do it all the way up till delivery if doctor had not advised otherwise, and if you are in comfortable positions. But if you don't feel like it just say no, listen to your body.