I'm 32weeks pregnant, is it common to have an oderless dark yellowish discharge?

Maybe: Discharge is increased in pregnancy, typically it is white and this is considered normal. Now another very common issue in pregnancy is a vaginal yeast infection which can give you discharge like what you are describing. You should definitely be examined and tested. Testing is really easy with just a q tip in the vagina. It is important to exclude infections as some can cause preterm labor.