It is a very personal decision, I think. I've had 3 births with none, partly as I had a botched lumbar puncture years ago that left me with headaches for months, and I had a friend who had a terrible experience with an epidural that kept her in hospital for a fortnight after it!!! So I was more scared of the epidural than I was of the pain!
I was encouraged to have one/offered with birth No1 as it was 37 hours, back to back, augmented, huge baby (well, almost 10lb), face presentation, ventouse etc .... But chose not to. I was able to move about and I honestly think thats why I didn't have a section.
Birth 2 - didn't need one. It just wasn't sore in comparison to No1! Oh, it hurt, but it was good, productive pain (does that make sense) and really a very "easy" experience.
Birth 3 was a pessary induction and they never offered, I never asked. Tbh, after the induction part it was very similar to the previous experience.
I would say, the second time round might be very different, sounds like your first one was similar to my first, and the second was totally different.