Oh yes!! This happens to me often from.about 26-30 weeks!! It hurt so bad! She had a full out flipping episode that scared me a few days ago! I thought for sure she was gonna turn feet down and stay! But she finally settled back head down and movement has been almost scarily absent during the day now. She's getting big and has no room. I'm seriously all baby belly (I've gained 16 lbs and actually went down two sizes in maternity clothes cause I've lost weight in my legs and thighs/ butt and arms, but my belly and boobs make up for it!!
I think it hurts more when you are smaller or baby is bigger (I'm sure there is other reasons too) but for me it feels like there is actually no room between baby and my skin!!