IME (of two vaginal births, one spine to spine, one not) the pain is not nearly as bad as the darkest depths of your imagination can take you to during pregnancy.
I had an episiotomy with DC1, I didn't feel it - it didn't really register with me until I was stitched afterwards and even then it wasn't until my birth debrief that I really clicked that I'd been cut rather than having torn. This despite DH clearly recalling me having consented at the time.
With DC2 I tore along the old scar apparently, but again I wasn't aware of that until the obstetrician said I needed a few stitches.
I didn't feel the ring of fire in either birth, and pushing felt more like being turned inside out than actually painful as such - the hardest physical work imaginable rather than painful like a cut or a burn.
I am no hero, and I used plenty of pain relief options across my labours, including pethidine with DC1. But it was all just more manageable than I imagined it would be. I would far rather give birth again than have the nerve pain in my back I had following a car accident some years ago, again.
If you are worried about complications, maybe you might like to consider delivering in a consultant-led unit so you have fast access to the obstetricians etc., or maybe in a midwife-led unit with a consultant-led unit on site. I did, and as both DCs ended up being ventouse delivery due to their heart rates dropping during second stage, I was glad I did (both were born unharmed btw).
Finally - the pain relief options I used were warm baths, paracetamol, a tens machine, gas and air, and with DC1 only, pethidine. I also learned some mindful breathing exercises beforehand and they were incredibly helpful when the contractions became stronger. I asked for an epidural with DC1, didn't get it as there was no anaesthetist available for a non-emergency like me, and afterwards I was glad, as I hadn't needed it.
I think that the point of this ramble is to try to say that you don't have to be a hero here - there are no medals for a drug-free birth, and epidurals are not the only pain relief option available.