I wouldn't be too concerned about how you lie during pregnancy affecting fetal position in labor. Researchers conducted an ingenious study a few years ago to investigate the correlation between persistent occiput posterior baby (baby facing the mother's belly instead of her back) and epidurals. They did repeated ultrasound checks during labor, the first as soon as possible after hospital admission in labor, the second within an hour after having an epidural or 4 hours later if the woman didn't have an epidural yet, and one at 8 cm dilation. They found the correlation--3% of women had an OP baby at delivery who didn't have an epidural versus 13% who did--but they found a couple of other things too: first, babies shifted from anterior to posterior in labor as well as the other way round, and second, back pain did not not correlate with the baby's position. (FYI: The reason the baby's position in labor is important is that OP babies are much more likely to be cesarean or instrumental vaginal deliveries because they don't fit well through the woman's pelvis in the OP position.) The moral of this story is the way women position themselves in pregnancy doesn't matter, but what they do in labor does.
As to why epidurals are associated with persistent posterior babies, the most common theory is that they relax the pelvic floor muscles and it is their muscle tone that guides the baby into the correct position for passing through the pelvis. I speculate that it may be an indirect effect. I think that walking and position changes during labor help coax the baby into position. From my days as a doula, I can tell you that many unmedicated women instinctively sway, lean forward to do pelvic rocks, and so forth because it feels better, but once a woman has an epidural, she is content to lie on her back. Of course, both could be true.
-- Henci