Scared for labor with second pregnancy

I was induced at 41+3 weeks with my first and I didn’t get contractions until I was 10cm and ready to push (he came 20 mins later) I didn’t have time for epidural because I wasn’t in pain until then.. then it hit me like a brick. Anyway I’m nervous the same thing will happen and I will not have time to get to the hospital or anything, I know this is a common thing to worry about but I’m not sure how to time contractions or anything

I’m 30 weeks pregnant now