Pinched nerve in lower back, 24 weeks?

Have you ever had a pinched nerve while pregnant? I had a rather stressful night of barely being able to move from my bed and to/from the toilet from what I am pretty certain is a pinched nerve. Everything I am reading says it’s common to have sciatica pain now but it’s not in my butt or thigh - it is centralized in my lower back but affecting how high I can move my legs, even to sleep on my side.

I tried a heating pad all night and 1000mg of Tylenol and finally cried myself to sleep at 3am. I don’t know what to do!