Due date

My due date was May 20th. I am now 35+2. My little boys head is so far in my pelvis that they couldn't even measure so they just assumed I was right on track. They are also telling me that he could come anytime now so don't rely on May 20th. I am 16, and "super tiny" so I honestly am surprised I made it this far. I have also been having contractions lately but nothing regularly. My obgyn told me if I start having contractions 10 min apart I need to come in. I feel like that is a little early... Especially because I'm a ftm. I want to labor as much as I can at home but I don't know wether I should go in or just call and let them know. They are also telling me that they won't try and stop labor if anything happens now... I really don't want to go to the hospital and then get sent home to come back in a few hours.. I also don't want to be I the hospital laboring for 48 hours!!! I just don't know what to do, any ideas?!!😁