How are you getting a good nights sleep

Estelle • 2nd time around very excited
34 weeks and I feel like I get the worst sleep  tossing and turning all night I have a pregnancy pillow and tons of more but nothing is helping I feel like the only way to I get any sleep is if I'm on my back but then feel bad because I feel I'm  harming my baby what are you doing to try to get a nights of good sleep