I would not be embarrassed about it, it's perfectly normal everyone has sex and it's an important part of a relationship. Not that I would jump on the bus to have a chat about it with strangers, but friends not a problem.
I tend to think everyone finds what is comfortable for them. Here are some good ideas (not sure about the one on the chair)
https://www.babycenter.com/101_pregnanc ... 0408539.bc
I have to say a cuddle and a vibrator was the only option towards the end.
Oh and talking with my friends, seems a lot of men are really turned on by the whole pregnancy look, despite feeling quite bovine.