Natural birth in hospital question

My first babe was a medicated birth. And my doctor is supportive of me trying for natural this time. She understands my wishes. But she's still recommends heading to the hospital at the 5-1-1 rule. Obviously I value her opinion, but here's my question. For mamas who delivered naturally in a hospital setting, when did you head in? My fear is coming in too soon and being pressured or overly stimulated/distracted and stalling and then end up caving for the epidural.