My experience not straightforward on paper but very positive for me.
I planned a home birth, and was at home for a long time (16 or so hours) and then transferred as got stuck at 9cm dilated.
Transferred to hospital via ambulance (no blue lights) and had epidural on arrival.
DC born 6 hours later after synotocin drip, attempting to push, failed ventouse, ended up with forceps. Massive episiotomy, think the dr was doing all she could to avoid CS. For which I'm grateful, not because I am anti CS but because I'd rather have one cut than two!
I have been 'offered commiserations' by GP, HV, various others who assumed this counted as a failed home birth/ failed birth experience, but for me it was a great experience.
= I had 1-1 care for nearly all the time, which helped me relax as I knew they'd see/notice if anything was going wrong. The mw also helped me get back on track a couple of times when I lost the plot during contractions
= I had birth pool to get in and out of as I chose (funnily found I hated it during contractions as couldn't move enough)
= I had learned a lot of techniques from yoga that I didn't even know I'd learned but which came as second nature to me to help me feel comfortable. My yoga teacher should be given a CBE or something.
= When I asked for the epidural when we decided to transfer the MW rang ahead, reassured the hospital I had tried my hardest and it was a reasonable request. It was waiting for me on my arrival.
= Turned out DC had cord around her neck hence no progression, so hospital was not a bad place for her to be born in case it had been a problem. It wasn't, but they kept her in special care for a couple of days to be sure, and I got amazing, gentle, help with breastfeeding.
= I did loads of work to strengthen muscles before the birth so never had trouble with waterworks after, which was just as well as I was unbelievably bruised and couldn't sit down for two weeks.
= MW were very respectful of my wishes and never suggested pain relief to me, waited for me to tell them what I wanted. They did propose the transfer to hospital and I took that seriously as they'd not been interventionist until that point.
So for me it's about being comfortable with all possibilities and going with what seems appropriate at the time, but doing your best to prepare mentally. I don't know if a yoga video can really do what a good teacher can, but it has to be better than nothing.
I suspect a doula would be wonderful, if I could afford one this time around I would.
I feel passionately that if we re-framed home birth as 'staying at home for as long as is comfortable/appropriate' rather than an oppositional argument about whether medics should be involved or not, there would be a lot more people starting off at home (of course need to live close enough to hospital, but so many do).