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Shaped foam knee pillows, a shallow lumbar wedge (I have this one but there are lots out there) and a soft but too soft body pillow helped me. The lumbar wedge is 2 years old and works great still, and I put it under my sheet so it doesn't shift around. The others get used as needed.
I had previously tried a soft memory foam mattress topper and that just made everything unhinge MORE and it was hot and I hated it. We cut it into a smaller pad one of my kids got and chair cushions for desk chairs and everyone uses them.