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Xanax is not considered as entirely safe during pregnancy. It can cause harm to the fetus. But the harm to fetus mostly happens in the first trimester. You are in the 3rd trimester (26 weeks pregnant) so the risk is low. You may use small dose of Xanax (around 0.25 to 0.5 mg), and also occasionally. If you use high doses and also regularly then the risk of fetal harm increases.
Generally pregnant woman are told not to use Xanax, but if the anxiety is very severe then as pointed above a small dose of Xanax using occasionally can be considered.
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No, Xanax is unlikely to make the nausea worse. In fact patients with severe intractable nausea and vomiting are sometimes prescribed meds like Xanax to help them. Xanax is normally not expected to worsen the nausea. SSRI agents like Lexapro can cause lots of side effects when these meds are started, but Xanax is very less likely to cause too many such side effects, and also it is not expected to worsen the nausea as pointed earlier above.