STARTING a workout routine in the third trimester

Ah
I walked in my first trimester and didn't do too much of anything in my second trimester because I was always exhausted after work. But now that I'm in my third trimester I feel like I should start a regular work out routine to help with delivery and recovery. I'm still working so I'll probably just walk an hour a day and do some at home strength training. 
Has anyone else waited until the third trimester to start working out? How's it going? Is it even realistic lol 

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