Pregnancy and sex

I’m currently 32 weeks pregnant and have been wanting to have sex but not sure if it’s safe to. The last time I had sex I was 27 weeks and ended up loosing part of my mucus plug and called by ob and they told me to go to the hospital. I ended up being there alittle over 3 hours so they could check on the baby and said I was having some contractions but everything ended up being fine and they sent me home telling me just to take it easy and not lift heavy things. Should I be ok to have sex? Or should I not just to be safe?