I think it's really natural to think about the last birth and wonder what the next one will be like. I had very long, medicalised, epiduralised etc but ultimately fine birth with DS, then 3 days ago had home water birth with doula, very very quick and painful but drug free. Both good births as much as you can say childbirth is good. but like you I had the feeling that I was lucky first time (DS popped out with no tears etc), and thought, can I be lucky again, turns out I was even luckier the second time.
just a thought, I only had a homebirth because moved to the Netherlands last year and it is considered totally normal here, so you are totally supported by the whole system if you want to have a hb. they don't consider it dangerous or strange at all here, and it's amazing how being in that culture gave me the confidence to do it. Especially for 2nd or more births, it's as safe as hospital, if not safer.
I found the Ina May Gaskin guide to childbirth and the Birthing from within books really helpful, also TENS. Natural childbirth is something to feel anxious about, in fact any childbirth is, but I think you would be totally fine at home as you have done so well with your first, no way could I have got through the first without epidural.
this is quite rambling but anyway I would just say talk to the doula and don't worry, I think contemplating arrival of DC2 it's normal to be thinking about different options, comparing and worrying about the next time, I definitely did! good luck!