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I think around 35 weeks is when doctors start really taking note about position and starting to take it seriously.
I've had friends who did procedures as late as 39 weeks to get their LOs into head down position, but it did take some outside guidance to get that to happen. Once they were head down, though, all was well and they stayed that way until birth.
I agree not to worry until about 34 weeks.
My son is all over the place, I feel jabs in just about every inch possible, sometimes at both ends at once. Everyone says "Ut oh he's going to be an active one!" Dad thinks he'll be a break dancer :)
If you are worried, look into prenatal yoga, there are certain moves that will encourage them to start heading down, especially squats. Plus it helps a lot when delivering.