You probably are compressing a nerve when you sleep making your leg and hand numb and tingly in the morning. I would suggest sleeping with a pillow behind your back and leaning back against it (a tilt to the left or right instead of all the way over on your sides). That way you are not fully on your side and you are not all the way on your back. Also I would suggest placing another pillow between your legs to help with lower back pain.
Good luck.