Worrying

I'm now 38 weeks and 2 days I don't have to much longer to go but my husband and I are both starting to worry about things because everytime we go to the doctors she checks me now and nothing my cervix isn't soft or thining so I've been doing what she told me to do I've been walking constantly and do squats she also encouraged us to have sex but can't do that when you have a uti right? But so far nothing is seeming to help improve afraid that when I go to the doctors tomorrow I'm just going to get the same news. I've always been told that the baby will come when it's ready but for the last two weeks the doctor does a sonogram and my little girl has been pushing against my cervix so according to the she's ready to be out but my body isn't cooperating and every other home remedies I find she doesn't want me to use them in don't know what to do and I'm starting to worry.