YANBU
Unfortunately, I think this is normal service for the NHS. I had pretty much the same experience when I was pg with DD in 2006, and felt much the same as you do.
We jumped out of the NHS system at around 18 weeks and used independent midwives instead. It is expensive - around £2,800 now, depending on where you are in the country, but it is great.
Antenatals are more frequent - and would take place at my home - and last more like 90 minutes. There was no rush, and got to talk through any worries and concerns, including teh birth plan, pregnancy niggles etc and just get to know my midwives better. Then you benefit from having the same midwives for your labour. There's lots of evidence that you get better outcomes where you know and trust your midwives, and they don't leave half way thorugh the labour when the shift changes either!
Another huge benefit of an IM is the post-natal care. We had difficulties establishing bf-ing, but my lovely IM sat and helped me for 4 hours on day 1, and 3 hours on day 2 - and then proper long follow up visits. I am still in touch with her now, years later. If I got pg again, it is reassuing to know she would be there for me.
I know we paid for this service, but the thing is EVERY WOMAN DESERVES THIS STANDARD OF CARE. You are not being unreasonable to be disappointed with the piss poor service the NHS provide.
Maybe go and look at the one woman, one midwife campaign - and it will reassure you that your feelings are quite normal.
I know you are very close to giving birth - but have you thought about engaging a doula or IM to provide support in the birth and post-natal care?