I think induction experiences are hugely variable, so it's hard to advise - I know people who had the pessary inserted and 2 hours later had a baby (honestly!).
I had a very closed cervix as well and was induced spot on 42 weeks after trying everything known to man to get the baby to come on her own. No one could do stretch and sweep on me, either, and the head was not engaged.
I had 2 gels (the pessary) on the cervix. The first did nothing, but at my hospital you get induced in the early evening. So I had to spend the night and my husband had to go home. Second gel the next day and it didn't do much either although my cervix was dilated enough that a doctor with very tiny hands broke my waters. That started very irregular contractions and at this point we were well over the 24 hr mark! But on delivery suite so husband there the whole time. A few hours later had a pitocin drip. Baby born late the following day, so it was a bit of a marathon.
I'd suggest the following: explain to your MW that you want your husband with you, and ask to be induced first thing in the morning so everything has more time to work and you're not likely to be there overnight by yourself.
If that doesn't work, try to see if you can go home overnight before returning next am. I have said that if I have to be induced this time I am going to insist they release me overnight if the first gel has not worked (if it's going to work, it works within 6 hours) and return first thing in the morning. They may allow you to do this, esp if you live close to the hospital, but they do have to monitor you for the first six hours.
It may be that once things get going you are so relieved not that SOMETHING other than waiting is happening you just go with the flow! To be honest although my induction experience was not great I was so sick of being pregnant that it was a huge relief to be getting on with it, and all the hospital staff were amazing. It was actually a lovely time, even though it was hard....
good luck!