Sleeping During Pregnancy

I'm a back sleeper and trying to get use to sleeping on my sides but it hasnt been going well for me. I get uncomfortable and lately my hips start to hurt. I dont really want to spend the money on a pregnancy pillow and it would probably take up a ton of room on a queen size mattress. I've watched some YouTube videos and they're all very much the same with pillow placement to sleep on your side. If I'm on my side and put a pillow against my back is it ok to lean back towards it so I am feeling like I'm more leaning towards my back and not my sides? Or is it okay to lay on my side but twist my torso so it's more on my back? Also if I just set pillows up to still sleep on my back but just on a slight incline is this okay? How much of an incline do I need? If anyone else has any other advice for me I'd really appreciate it. And if you really think those pregnancy pillows are truly worth it at the end of the day, please let me know. Thanks!!!