Any mommas having problems walking after sleeping or a nap?

I am almost 36 weeks now and my stomach is huge but I have only gained 23 lbs this entire pregnancy. For the past 2 weeks anytime I sleep whether from a nap or bed at night, I have to empty my bladder every half hour at least. I switch my sides left to right throughout the duration of my sleep. So I'm not favoring one side more than the other because my hips do hurt and fall asleep if on too long. But to get up has been a nightmare. Even if I sit up first for a few minutes before walking I still hobble very badly like I have a terrible pulled muscle but I actually don't. This is reoccurring for like an hour after I'm done sleeping. So I have to stay upstairs in my master bedroom until I can regain my leg strength enough to walk downstairs. I've been actively cleaning my house, going up and down the stairs to do laundry, going for walks and more. Anyone else having this same issue after sleep? It's so painful!!