I have had four homebirths now; the first was on a narrowboat, so very interesting!
With all of them I found it wonderfully normal to just change the sheets, have a bath run for me, and having subsequent kids coming into bed to meet the new arrival!
Each time, they have slept through it all, barr DC3's birth, as it was early evening, where they raced in as soon as they heard him cry!
My Mum has been at all the births, but mainly checking on sleeping kids/ holding the fort etc. She has said it was the most wonderful privilege to be at her Grandchildren's births: and she was dubious about the first one!
I have been so lucky having fantastic midwives and I think I probably flet much more chilled and in control than if I were in an alien environment.
Each time I inform MWs I would like a HB, I am always ready to absolutely change that plan and birth in hospital if at any point during pregnancy it looks like labour may be iffy.
I lived about the same distance as you from our local hospital: my MWs (bearing in mind over the last 12 years!) have all been pro HBs, as they said they find them so much more personable and relaxed, which makes for a better birth.
I always packed a bag 'just in case'. Never prepared anything other than having a good anglepoise for examination afterwards; MWs have always brought big waterproof things, and I just chucked a lot of old towels about the place, as I like to mince about in labour!
DC1, 12 yrs ago: Born in bed
DC2, 8 years ago; Born in the bath
DC3, 3 years ago; Born in bed
DC4, 5 months ago: Born on sofa!
Good luck in your decision: just remember, try to be where you will feel the most safe and relaxed, wherever that ends up being..