I think it's important to keep an open mind and look into all options rather than setting your heart on one particular thing.
The main benefit of course of epidural is the pain relief :) Of course there are risks, there are risks with everything, but the long term ones are really unlikely so what you really want to look at is the short term: For me the offputting part was the lack of movement and the needle, which I was desperate to avoid, but I think once you're in labour as long as you know what each pain relief option involves you can wait until you're there to make the decision.
I forgot my birth plan entirely when I arrived at hospital and the midwives said it didn't really matter and all they needed to know in advance was whether I wanted the injection for the placenta (not unless necessary for me - needles!) and whether I wanted my newborn given vitamin K.
What I'd put in my birth plan for next time are things that are likely to be under my control and/or a few important if/then statements. Everything like pain relief, positions, waterbirth, relaxation techniques etc might be helpful to keep in a separate document as a reminder for you/your birth partner when things are getting tough but if you have a bullet pointed birth plan with instructions on things you're likely to be able to control the midwives will appreciate this.
For example I'll do something like this if I ever get pregnant again:
- For the pushing stage I don't want to be on my back. If I can't move please help me to lie on my left side unless I've had an epidural
- If I'm not in water for the pushing stage, counterpressure with a warm washcloth on my perineum would be appreciated
- I want natural management of the placenta + to wait until cord has stopped pulsing to cut, unless medically necessary to intervene
- I want skin to skin immediately after birth with no dressing/washing the baby until later if possible
- If the baby needs to be removed from me for any reason I want my husband to go with them if possible
If anything in your birth plan is likely to already be hospital policy (e.g. "I don't want an episiotomy unless strictly necessary") don't include it. If anything is subject to change at the last minute (e.g. "I want to avoid all pain relief and use hypnobirthing") don't include it. The less the midwives have to read and remember, the more they'll be able to concentrate on it which means it's more likely to be followed. It's a waste of time and space to include things they'll be doing already or which you can't predict. If anything you want directly contradicts usual practice, that's something important to put in there. Plus any special information like "I'm deaf and I lipread" or "I'm autistic and I need you to ask before you touch me" or "I'm VERY ALLERGIC to opiates.
I have no idea why most books/websites/antenatal classes encourage such waffly birth plans TBH because they can be a really useful tool when used properly.