I think the epidural point is very personal. I agree that there is no reason in the world to think you 'should' struggle. If you need an epidural, ask for one.
However, for me, having an epidural was quite a negative experience. Once ARM had slowed my contractions, I was put on the drip and demanded an epidural. In the context of being on the drip it was the right decision. But the combination of no waters and now being flat on my back (only type of epidural my hospital offered was fully numb) meant DD1 had little chance of turning, got stuck, got distressed and I had forceps. Also the epidural itself wasn't entirely successful (though obviously that has nothing to do with positioning).
Second time round, don't get me wrong, the pain was intense (I can actually pinpoint the moment DD2 turned, and the difference was incredible.) But I could do it, it felt productive, it felt like I was working with my body to do this, not against it.
So yes, epidurals are an amazing invention. I am all for them. I am not someone who thinks everyone 'should' do it naturally. But I also think that people shouldn't feel scared into asking for an epidural on the basis of being b2b. Unless you are one of those people who wants an early epidural regardless, try to go into it with an open mind as you would any other labour.