I got my current pump, an Insight, when I was pregnant with my first daughter. I use a Hid-In band to wear the pump just under my bra. I actually found having the big belly made it a bit easier to rotate sites - more acreage to cover! The needle doesn’t go in that far, I didn’t find it uncomfortable. Biggest issue was having long enough tubing to reach the lower part of my belly.
For my first labour I was put on a sliding scale so came off the pump for that and then reattached about 1 hour after birth. I had my second child end of last year, and for that labour we agreed I would keep the pump on and not use the sliding scale at all - I don’t have long labours and that worked really well.