Advice wanted

April

I am currently 28 weeks 1 day. Im high risk due to hyper tension and gestational diabetes. For the last 3 days i have had a lot of pressure in my vaginal area causing my lios and clitoris to go numb. Ive had trouble walking and bending due to my hips being so sore and stiff. 10 days ago i went into the L&D er due to pressure and i was told my cervix is now low. My question is, has anyone ever went threw any of this and went full term. My daughter has dropped. 3 days now shes been in my pelvis. I feel all movement and grinding in my pelvis and lower belly. Ive been in and out the of the hospital 6 times in the last 3 months. Im worried i may have her soon bc of everything im feeling. Plz someone tell me this is normal. This is baby number 3 but pregnancy number 5