I've had good births at home & in hospital. 95% of it came down to the people involved - having a good supportive birth partner who can help you get your needs met is important. Finding out what you can do if there is an issue with the HCPs on the off chance you get an asshole is something I always recommend. The other 5% came down to my body which is a dice roll each time.
With all four of my kids, I spend the second stage on all fours with my head pressed against something soft-but-firm (mattress/back of an upholstered chair that I was kneeling on). I tried water with my first, but it just wasn't for me - I also don't find baths relaxing so that wasn't surprising. Heat packs were magic for my births, both on my lower back and with one back-to-back birth on my public bone - one actually broke in one labour but the midwife made a makeshift one for me, it was lovely.
The best birth plan I had was basically I'm scared and brief reasons for why, these are my medical conditions/history that may affect my labour/birth (disabilities and, having a trauma disorder, I had a couple relevant triggers to list), these are what helps me cope that I may need help with, and a few of the most important things to me. It was a list of bullet points I tried to get as brief as possible. One bullet point ended up being debated, delaying the 3rd stage injection was not liked, but I was well support in that I think in part because I had few requests and I was flexible in knowing it might be required before the placenta came and was happy for it after if the HCPs felt it was needed which is what happened as I had an enlarged placenta (the midwife's reaction to the size of it has stuck with me, literally bloody thing took over the table of tools as it didn't fit in the bag at least on the first try).
You can talk to your antenatal midwife about what is standard in your area so you don't need to put in anything that lines up. I remember with my first filling in one of those birth plans that was pages long and 85% of it was standard practice unless there were exceptional circumstances, so I tried to get down to what was most important to me and didn't fit that standard.
Most of the birth plans and preferences lists were filled with things that I ended up not caring much about - my entire 'if it goes tits up' section with my youngest was that I appreciate being kept informed of what is going on (which may be standard, but was really important to me) and 'Because of the above conditions, general anesthetic is preferred over spinal anesthetic for a c-section or manual placental removal'. The rest I knew would have to made with the limitations of the circumstances at the time - I might have wanted prolonged skin to skin post-birth, but in 3/4ths of mine, the placenta caused an issue which meant the baby had to go to my spouse or a HCP so my well-being could be focused on (my births all went great, the only 'intervention' I needed was some shifting of my body to help them out with a couple of mine...the babies I make were fine, I just also make troublemaking placentas).
The choices in these lists aren't always practical on the day, so I think rather than focus on how you want it to go which is part of the dice roll, think about your needs and what will help you cope for better or worse and learning about the labour process like the transition panic (hormonal changes between 1st and 2nd stage can feel similar to panic which can cause more panic - and knowing doesn't always stop that panic) and third stage which is often very minimal in a lot of writing so you can have a bit more handle if these things come your way. Hopefully it goes as well and comfortably for you as possible!