Chiropractic? That's what I do. I was actually going to start a thread about sleep position suggestions too.
I have the snoozer pillow (looks like a candy cane). I sleep on the left side of the bed and try to sleep on my left side as much as possible. I take the snoozer to the edge of my bed with the top of the cane going over my shoulder so my head is on it and the long part goes b/w my knees. It works well but I find that in the 3rd tri I need more than that.....so I take a king size pillow and put it under me (vertically). I literally sleep on top of it (from about my knee to my upper back.) It has really helped with the back ache.
I also do alot of stretching.
The other thing I have not yet but may try is the new tylenol precise? You rub in right into the hurting area. I have to read the tube but it is tylenol so I would think it would be safe in pg.