My OB doesn't give me weekly appointments

I haven't had an appointment with my OB since 36 weeks and I'm now 38+3 and not seeing her until next week. She also doesn't check my cervix.  How can we tell if baby is engaged in the pelvis? My lower abs and hips and back and pelvic bone hurt but it could just be joint pain etc... But does it mean baby's head is engaged? Or? Sometimes when he moves I get these little zings through my vagina but again done know.  Any tips would help. Thanks!