What does it feel like when baby engages?

I'm 39w 5d. I know my baby has dropped. Even though it's my third, it's a first for me, my other 2 didn't as far as I know. But my stomach is now a slope and sits low rather than high and round. I can eat full meals, breath much better, and have to go to the restroom constantly. This has been going on for a couple weeks now. However, the past couple of days, I'm having nonstop pressure/pain in my pelvis/groin, back. It's sharper than an ache but definitely not cramping or contractions. It hurts when I sit and even lay down, and it makes walking so uncomfortable. The pregnant waddle never made more sense to me than it does now! :) By the end of the day, I'm so stiff and sore, I'm near tears sliding into bed. Going to the bathroom is more interesting as well. (TMI) When I go pee, often it trickles a little at a time, or I literally feel her shift a little and I can go. I've been having the same problem with the other. When I have Braxton Hicks the pressure is ten fold and I feel like I need to go to the bathroom then as well. But there is absolutely no pain, just pressure. So I'm curious if it's possible she's engaged or if the -1,-2, stations feel this way as well? I know even if she is that labour is still far off for me, that's just how it goes, but I'm still curious. Oh and I do NOT have a urinary tract infection, just thought I'd mention that as well.