I agree with Laranna, it is fine to see a physio in the later stages of pregnancy. I went to see an osteopath specifically in the last stage of pregnancy for PSD and she also helped with positioning of bub.
You can also get massage which I'm sure would help, just ensure that it's a person trained in prenatal massage. My massage therapist had a pregnancy bean bag - which is a big bean bag with a hole in the middle for your tummy. It was SOOOOO comfortable, just being able to lye on my front was heaven in itself!