IMO 39 and 3 is absolutely full term! My DD1 was born at 39 weeks, 5 days, and my DD2 at 39 even, and they were both considered full term.
I know I am a broken record with this, but having sex (to completion for the man) is the only form of home induction (aside from castor oil) that actually has much evidence behind it. Without getting into personal details, I would have very high confidence in using it as a method of home induction, and it doesn't have any of the potential unfortunate side effects of castor oil.