Restless legs/joints

Is there anything I can do or take to help with this intense restlessness in my legs and joints. It is SO bad. I toss and turn for hours and now it's even feeling that during the daytime too. I tried I take Unisom to help me fall asleep but last night was just the WORST. and its not even just in my legs anymore, but in my shoulders and elbows now. I cant get comfortable/ for more than 20 seconds at a time. I'm literally in tears I am so exhausted but my body won't let me sleep. And I still got 6 more weeks of this pregnancy 😩.