I booked a home birth for my first baby and ended up transferring in due to tiredness and lack of progress. It wasn't an emergency and though it was upsetting, it wasn't the end of the world. I had a nice experience and I put that down to having started out as a home birth.
I agree there are a lot of stories of people who think they "would have died" at home, but seem to miss key information that would have been present in a home birth management. For example a PP referred to induction, but you would never be induced at home, you'd be in hospital for that. There are other things that would result in transfer as well much before.
I opted for a hospital birth for my second because we were living in a flat and I felt it would be unfair on our neighbours, also that trying to manoeuvre out and down all the floors would potentially be distressing, plus the hospital was a good 20 minutes away and longer in traffic.
However I have heard of a couple of bad experiences - one woman I know who had a straightforward birth for her first DC had a home birth for her second with an independent midwife and she was really reluctant to let her transfer into hospital and it got quite dicey because she left it too late. Ultimately everyone ok. But a concerning experience. The other was a friend who had twins - so fairly high risk anyway - and one suffered oxygen deprivation at birth and ultimately was disabled by it. Could have happened in hospital too, but it happened at home, so they had to deal with their feelings regarding that.
DS2 the one I had totally in hospital suffered distress and needed oxygen and to spend time in nicu. Whereas DS1 with half the labour at home did not. I'm not drawing any conclusions from that at all btw! They think DS2 took in some meconium before the birth, so it would have happened anywhere.
I agree with the advice to look at hospital and think about home and just think in terms of the moment, what would be the best thing/place right now? If the balance shifts that hospital would be better you go in, just a practical decision, nothing value based on it, no failure.