I'm not great either.
Just remember, it's your body.
If you don't want an internal examination, you don't have to.
If you don't want a sweep, you say no.
If you don't want to be induced, it is your call.
Sadly, I wish I'd have been armed more with knowledge, as I always accepted whatever they told me.
If you go down the epidural road, the chances of further interventions increase.
Try to keep active during labour, drink raspberry leaf tea a few weeks before birth, write in your birth plan what you want i.e no internals. Then tell your birth partner what you want as well, as when you're in pain and vulnerable, someone needs to fight your corner.
Don't let them fob you off. Or send you home if you want to stay.
Out of all 3 births, the home birth was the best as it was my house and I was in charge. I still let them do the sweep though, which I was so pissed off about as it ramped up the contractions so bad, just so the midwife could get home quicker 
Good luck! Arm yourself with knowledge x