Baby's sleep routine before and after birth

I'm 25 weeks pregnant and almost every night when we go to sleep at around 10.30 our little girl is kicking and wiggling. If it happens that she isn't moving when we go to sleep I get really worried and can't sleep myself, so I've woken her up a couple of times just to get a peace of mind. She wakes up when I rub my belly gently. However my SO is worried that waking the baby up at the same time will make it harder to get her to sleep when she's arrived! I personally am not worried about that since a baby's sleep routine is a mess for a while anyway. What do you think?