Video Appointments vs. Office Visit

In your opinion would you ask you ob if you could come in to the office and check the heartbeat of the baby. I heard it at 12 weeks but since tomorrow’s appt is by telephone I won’t hear it again until at least 20 weeks. I feel like that’s a long time and the more I think about it the more I feel stressed or should I not worry? I’m 34 and this is my second pregnancy. So far I haven’t had any weird symptoms or anything that should raise a red flag, I don’t think.