Well...I don't think there is a magic bullet (I wish there was!!!). You sound pretty active. I haven't had decent sleep for 11 weeks due to sciatica. I know sciatica is a different story, but it sounds like you have the tools, and are doing what it takes to make the best attempt at good sleep.
Just blame it on the 3rd trimester and be thankful for the sleep you do get. That's what everyone tells me...including my doctor.
Maybe you could take some Tylenol before going to bed if the "uncomfortable" you mentioned is a bit of aching. That might take the edge off it.