Baby pushing up against stomach?

I’m 24 weeks and he’s been doing this thing where it feels like he’s pushing his whole body against my belly, this isn’t new at all he’s been doing it since I was probably 19/20 weeks. My stomach gets super hard and I can literally feel him right underneath the surface, when he does it it creates a lot of pressure and it’s almost like he’s trying to break free through my stomach lol. It genuinely feels like I’m holding in a big poop 😂 it’s pretty uncomfortable but not really painful or something I’m worried about, he stops once I kind of press/ rub on him and it lasts usually less than a minute. He usually does it maybe once or twice and day but today he’s done it like every few hours, have any of you experienced this? Have you talked to your dr/ midwives about it? If so what the heck did they say baby is doing !?! 😂