Yes you can safely take warm baths when you're pregnant but avoid taking baths that are too hot.
A warm bath is okay when you're pregnant as long as the bath water is not hot enough to raise your body temperature higher than 102.2 degrees Fahrenheit for more than 10 minutes
A bath water temperature of 98.6 F is not too hot for a bath when pregnant and is perfectly okay to soak in the bath water at that temperature.
Just don't get the water in the bath hotter than 98.6 F and the baby will fine.
If you take a bath when pregnant in bath water that is hotter then it could cause harm or death to the unborn baby.
I've soaked in bath water that was just warm when pregnant and the babies turned out just fine and healthy.
Warm showers are also okay to take when you're pregnant.