Midwife experiences?

Samantha • Semi-professional tiny human wrangler
I'm 18 + 4 and have opted for a midwife instead of OB, etc. 
So far I'm not too sure how I feel about my midwives... every appointment I have seen someone different. I have only met my midwife briefly for about 5 minutes, and have yet to meet the other one at all yet (teams of 2 incase one of them is at another call when I go into labour). I wanted a midwife partially so I could feel somewhat close/comfortable with the woman who would be assisting me in bringing my first baby into the world - I understand the nature of their job means they will be busy or called upon unexpectedly but I thought I would have actually spent more than 5 minutes with her by this point. 
Each appointment seems so brief, and a bit impersonal. I often feel judged or made to feel dumb for asking questions (this is my first successful pregnancy and I have social anxiety so I get flustered easily when speaking to people I am not familiar with). When I mentioned to my mother they have never weighed me she thought that was outrageous. 
When did you discuss your birth "plan" or expectations/desires with your midwives? Did you feel you got to know them decently before birth? Any insight would be great... I'm all new to this so any information from people who have had midwives before would be awesome. I've heard so many stories of how personal and great midwives were, but I just haven't gotten that feeling yet, personally. Thanks.