Oh Laura - I feel for you! And still a while to go huh?
I'm not sure if its going to get any better for you, its possibly just one of those things. I started having lots of problems sleeping from about 35 weeks (I think?) which is when I started to get really big.
Only thing I can suggest is making sure you relax before you go to bed. So have a nice hot shower (its OK to have a hot shower before bed as long as you dont stay in too long) maybe get a wheatie bag to sleep with, and try some lavender. Another thing could be chamomile tea, as this can help with insomnia. You should be sleeping on your side now anyway, its better than your back for the baby, but if you are comfy on your back, do that.
Chances are this will continue as if you haven't got this problem already - your bladder will get so small you will be waking up every few hours to wee!!!
Remedial massage sounds wonderful. My osteo saw me every few weeks once I got big and uncomfy!

Fi