Advice for labor FTM

I’m 39 weeks Monday and today I had my prenatal check up and doctor told me baby girl is so low and I’m so effaced (almost completely) that he can easily feel her head. He told me that because of this he’s worried labor is going to go very fast. He gave me a deadline of 2 hours to get to the hospital if I go into labor, & wants me checking in by the time I’m 3-4cm instead of 6+.

I already feel my stress rising with the idea of not making it to the hospital on time! I’ve been trying to connect to my body and believe in it, but since I had no idea I was so effaced already, I feel I can’t trust myself to know when it’s go time. I feel anxious about relaxing my pelvic floor now and her falling out 🤣 Anyone have any similar experiences with similar numbers or a fast labor? As a FTM I prepped mentally for labor to be long and slow and to spend a lot of time at home and now the whole thing sounds like it’ll be chaotic