Shoulder and back pain from side sleeping. Any tips?

Hi mommies. As we all know, sleeping on our back and tummy is a no go during pregnancy. My little guy stays on my left side making sleeping on that side hard too.  As a result, my right shoulder and lower back area throb from sleeping on my right side so much. Any tips to help alleviate this aching?  My fingers and leg have even started to tingle. I have a pregnancy pillow, tried taking a bath, and a heating pad to the areas. But it's getting worse and worse.    Any tricks you used that worked?