39 Weeks and Heavily Engaged - How do I get things going??

I'm at the end of my rope here and really feeling the strain. I'm 39+3 and my little boy is HEAVILY engaged (the midwife had to get a second opinion because he was so low they could hardly tell what position he was lying in). I have been like this for three weeks now.

I suffer from Ehlers Danlos Syndrome and the hormones from his engagement are leaving me in an immense amount of discomfort. I feel or am sick at least once daily, and barely sleep as I am in constant full bodily pain. I don't have pre eclampsia as far as my midwife can tell but my eyesight is being horribly affected and I have constant migraines and trouble seeing.

I walk half an hour a day, give or take, basically every day. My partner helps me to do squats and other exercises. I have two cups of raspberry leaf tea daily. We've tried sex, both rough and gentle, up to two or three times a day some days. I've not even had a show, and only had Braxtons maybe three times the whole pregnancy.

I can't take much more of this. Is there any other way I could induce labour safely and naturally? I know medical induction can be horribly distressing so I really don't even want to consider it until it's 100% necessary for baby's wellbeing. Please help?