I haven't felt v. 'looked after' by the 2 mw's I have seen in this pg (moved house). However, neither had a major issue with DD coming with me to all my antenatal appts with them - and as our nearest family live 2hrs away and I homeschool, it really isn't practical for me to leave her somewhere else.
However, the local Hospital does have a policy of no children when doing scans (IMO sonographers do not have an easy job & any distractions can make it harder. I had major issues in the previous pg and if the sonographer is distracted, things can be missed - but they are human
). This policy is made very clear on all appointment letters and although I could not get childcare for one of those appts, we chose for me to attend the appt alone, so that DH could stay with DD. There is no way I would take a child out of school just to go to a scan.
Your mw doesn't sound v.nice. Admittedly some children can be v.distracting (even when nicely behaved), but at least you've warned her in advance that you might not be able to get childcare.
We do seem to get fewer mw appts after the first child (and mine said not to bother making another appt with her after 30-ish weeks as I'd be seeing the consultant), so I suppose you need to ask yourself if you're willing to see how it goes for the next couple of appts, or if you'd rather change to someone you might have a better relationship with now. In some ways I wish I'd changed, as although my mw is ok, I do not feel I can talk/discuss anything - and that means I haven't had anyone to talk things through with, which I would have liked after the previous issues.