I don't think the kind of attitude your midwife displayed is helpful at ALL and I would take it all with a massive pinch of salt. You really don't know what you will want or need until you are in labour, every woman's experience is different. My own baby was back-to-back, I had all the pain in my back (none at all in bump) and contractions for several hours with only 30 seconds in between. The epidural was the BEST FEELING EVER. I ended up with complications due to baby's position and was prepped for an emergency C section but then had baby out with forceps. I honestly think having the epidural had nothing to do with this, the baby was just in the wrong position to come out on her own (she was getting distressed but not coming on her own). Sometimes I wonder whether some of the women who need epidurals have greater pain because there is already some kind of issue, and the resultant escalation is due to that rather than the epidural itself. All this to say a) don't worry about it now and b) I would advise a fairly relaxed birthplan as it is really hard to know what you will want or need in advance and if your birthplan is very open to whatever, then you won't be feeling guilty because you didn't have the birth you wanted or planned. Birth really isn't something you can plan too much I think and needing pain relief or an epidural doesn't make you a weaker person or anything of the sort. It is just a game of chance mostly. Of course, I am not saying that being prepared and doing yoga breathing etc. can't help (I found yoga breathing really really helpful) but sometimes whatever you do to prepare, things happen that you can't control. So it is probably easier to take a less minutely planned route if you feel you can.
I also REALLY wanted to breastfeed SO much, I tried for 6 weeks, I was basically either feeding or expressing all the time, well at least 16 hours a day. It was hell. I was a wreck. I was crying most of the time, I felt SO guilty and such a failure. Looking back it was partly just the exhaustion (lots of which was caused by the crazy feeding schedule) but (like someone else mentioned on this thread) NONE of the midwives said it was okay to stop, they kept saying 'have you tried this, that, the other?'. Believe me, I had tried everything I was told of or could find, I joined a breastfeeding class, the works. Nothing worked. eventually my (lovely, sensible, sympathetic) GP said look at you, you are a stressed out mess, you should be enjoying your little girl, just give her a bottle, she will be absolutely fine. And honestly, the moment I stared fully formula feeding it was like I was a different person. I really started to enjoy my baby for the first time and I stopped crying. I feel now that formula from the start would have been better for her than breastmilk but a massively unhappy, stressed out mum.
All of this long post to say, take all advice with a massive pinch of salt. And rely on your instinct. I have found that mine is nearly always sound. And remember that whatever choice you make, someone, somewhere will judge you for it. And that's okay. You will want the best for your baby but you also need the best for YOU. So don't worry to much and ignore most of what the over-the-top midwife has said! I found the main use of antenatal classes was to meet other mums, we met for coffee or went to playgroups when our babies were small, it was great.