Husband sex and pregnancy

I’m 32 weeks pregnant and have been having sec at least once a week during my pregnancy sometimes every 2 weeks. Each time he has been finishing in me. I know people say it’s safe but I get nervous it could hurt my baby.

My doctor hasn’t said to stop having sex so me and him haven’t and my sex drive has been through the roof this last trimester. Has anyone had healthy babies and during that pregnancy, your husband came in you during sex?? I’m scared it will make me go into labor