29 weeks baby engaged ?

This is my third baby and I always carry very very low. However this last week I’m pretty sure baby engaged and I can literally feel him moving in my pelvic area. Like way below my belly there are limbs coming out lol. Im uncomfortable and constantly crampy Bc if the pressure and it’s putting lots of pressure on my back. I’m starting to worry about ore term labor. Anyone carry this low and go full term? My last babies were very low and I went to 38 weeks with one and 39 weeks with second. Also both were big babies. My second was 9.6. Haven’t had any contractions or anything. (Have my ob apt this week and obviously will ask then)