sleep on stomach in trimester 3

I'm pregnant, already in the third trimester. My belly is quite big now and visible... I panicked so much, Mom. Earlier, I woke up on my stomach... yes, my belly was underneath 😭 I immediately cried and asked to be taken to the hospital for a check-up. I don't know how long I was lying on my stomach??? But thankfully, my baby is okay. The doctor really advised avoiding this sleeping position, especially with a big belly. It could've caused my baby can't get enough oxygen 😭 Has anyone experienced something similar?