Uncomfortable baby movements

Does anyone else’s baby do movements that make them extremely uncomfortable and sometimes maybe even hurt? My son is transverse most of the time and sometimes it seems like he is trying to do downward facing dog inside my belly and it’s so uncomfortable feeling. Sometimes he also does weird movements that make me jump or make noise because it’s kind of painful. I’m almost scared to go to full term (I’m 34 weeks in 2 days) because I already feel like he’s SO BIG.