Yes, a thousand times yes.
OP, I totally totally TOTALLY get where you're coming from. I wanted to have a drug-free water birth with delayed cord cutting and co-sleep and breastfeed and go to groups and use a sling and generally be as in touch with my baby as possible.
Well, I ended up with a highly medicalised c-section because she got stuck in my pelvis. She was in distress so the cord was cut immediately and I didn't even see her beyond a quick glimpse for four hours while I had further surgery. Breastfeeding was such a disaster that she ended up in A&E at 5 days old with dehydration. She had CMPA, silent reflux and grunting baby syndrome so was SO LOUD at night even when she was asleep that I didn't sleep at all. I started hallucinating with the sleep deprivation and developed severe PND and psychosis. We moved her into her own room at 4 months at the pleading of my medical team so I could get some sleep. Only then did things start getting better. But it's taken me the best part of a year to "forgive" myself for not being the mum I wanted to be.
And honestly, it was such a WASTE of time. She is happy, healthy, securely attached, confident, loving, funny, clever and brilliant. I wish I could go back and tell myself to stop beating myself up and go with the flow. She hated co-sleeping! She likes her own space to sleep - still does a year on. She gets SO CROSS if we go into her room when she's trying to sleep. She likes being put in her cot, kissed goodnight and left alone to get on with it! She hated the sling because she liked being able to see around her! She hated groups because she just wants to explore and play freely! I spent all that time trying to do what I thought I should be doing as the perfect mum rather than just listening to my baby who was telling me SO clearly the whole time what she actually wanted. The only thing that went well in my early parenting journey was weaning, and that was because she demonstrated straight away that she wanted to feed herself and didn't want to be spoonfed and I just went with it. Now she eats like a champion and it was pretty much stress-free. All because I listened to her.
Don't try and be a particular type of mum. Just be a mum to YOUR BABY. They know what they want and need from you. And DON'T waste any more time feeling guilty. You are the absolute best mum your son could have. Nobody could do a better job. Nobody. 