Third trimester back and nerve pain keeping me up at night

I’m 38 weeks with a big baby and daily back pain that keeps me up at night has started. It also seems to be causing leg and ankle pain which I can tell is nerve-related. I finally caved and took Tylenol last night. I’ve also been doing hot showers on my back (for very short amounts of time) and soaking in epsom salt baths (doesn’t really work because the water can’t be hot enough). Any YouTube physical therapy videos or other tips that have helped? By the time I get in for actual physical therapy, baby will be here and I can’t take my toddler with me to it (she’s too mobile now). I see the OB later this week but doctors usually just give the most obvious advice like rest, heat etc. I had a lot of success with pelvic floor PT (in person and on YouTube) but those exercises are not feasible with my basketball belly, lol.