Yes please don’t deliver now. Baby’s not strong enough yet.
Get a maternity pillow or at least a bolster for when you’re lying down. That helps to ease the pain.
As for walking, well, I needed to take paracetamol on days when the pain was severe (I had pubic symphysis dysfunction). And as I was still working, I just had to walk slowly and carefully. You’re only a few weeks away from being full term. Please hang in there! Take painkillers if you need.