If you can still manage to walk unaided you're doing quite well, honestly.
Ice is brilliant. Fill condoms with water and freeze them, put them on the symphysis, it really helps. Buy cheap condoms, I get them from Lidl, just warn MIL before she goes in you freezer!
Buy a body pillow to sleep on. It's far better than a normal pillow between your legs, because it goes under your bump, hip, pelvis and between your knees. Don't get one from Mothercare, you can usually get one from Ebay for under a tenner.
Don't move unless you have to.
Keep your legs together when you get in and out of the car.
Don't push a buggy or supermarket trolley.
Don't drive if it aggravates it.
Wear satin pyjamas in bed, it really helps with turning over.
I find wearing decent tights or leggings comfortable. I can not wear jeans, the weight of them kills my pelvis.
Try a support belt, not tubigrip.
Don't lift a toddler. You have to be strict with that. Get them to sit next to you on the sofa for cuddles, they will understand mummy is poorly. DS1 was under 2 when I was pregnant and he got it.
Get crutches if you feel they will help.
Sit down to put knickers, tights, socks, trousers, shoes on etc. Do not stand on one leg.
I used to come downstairs on my bottom as it hurt less.
Rest. Rest. Rest. Rest.
It won't necessarily speed up birth, and it won't always magically go the minute the baby is born.
DS2 is 17 now, I still have very severe (the worst my surgeon has ever seen) SPD. I have had 5 major pelvic surgeries. If I can help anyone please let me know.