Frustrating pregnancy sex

We are almost 36 weeks pregnant and we are experiencing some frustration. My husband and I are both on the heavier side. He's got a gut and I've got some thunder thighs, not to mention this big ol baby bump. The other night I was trying to ride him but couldn't get it in 🤦‍♀️. And I literally can not breathe if we try missionary. Doggy is the only thing that really feels good for the both of us. But I feel a little insecure with doggy and I don't want him to do all the work. Any one else experience this? Do you have any tips or tricks?