Congratulations on your birth. I am sorry that you did not have the birth you hoped for and that you were not afforded the dignity and respect you deserve in childbirth. A birth does not have to be unmedicated to be a positive birth experience. It just needs to be from an informed place of positivity and not one of fear. Not my words but I like them.
You do not sign away all future decisions when you agree to one stage of medical birth induction. When you were in pain and had expressed a desire to avoid an epidural, you should have been offered encouragement and alternative methods of pain relief. An experienced midwife can detect other signs that a woman is reaching full dilation and transition.
The doctor had no right to say he would cut you without consent. The staff should not have told you that you could have done better and instead of telling you that you were not coping with the pain, positive affirmation is a better way of dealing with this situation as well as asking you to tell you if you need any assistance. It is completely acceptable to make noise during labour.
You should absolutely take the opportunity of going through your birth with a qualified practitioner who can give an objective view.
Mothers should be at the forefront of all considerations during labour, dismissing poor birth experiences as long as there is a healthy baby at the end of it is dehumanising. Pushing the needs of mothers aside and not listening to them has detrimental outcomes on labour. If you feel the need to have a different outcome the next time, there are many many things you can read to take control next time.
I will reiterate, a positive birth does not need to be unmedicated but being an active participant in the decision making process can make a huge difference.
For full disclosure. .. I am a Doula and I see what a difference it can make when a mother is fully involved in the decision making process and not threatened or pushed into decisions, even if it means not having the birth that she had hoped for. Even talking it through afterwards helps enormously.