I always dealt with it at the beginning of the pregnancy, but during my third pregnancy I was absolutely miserable and it lasted throughout. By then beginning of my third trimester I had hip dysplasia and my pubic joint separated and I couldn't walk, sit, lay down (basically anything) without pain.
So, yes I went through it. My doctor told me to lay on my left side when it started happening, but I think that was more about good circulation to the baby. The good news is that you are almost there and this is almost over and the amazing trade-off is a beautiful much loved baby!!
Hang in there, Mommy, and congratulations!!