Small measurements @35 weeks

I had an ultrasound done at 35 weeks exact for a growth check, last Thursday. They went over the results with me yesterday at 36 weeks. Baby was measuring about 4lbs and 15 oz, putting him in the 15th percentile. Which my midwife said is fine, they dont get concerned until babies are under the 10th percentile. However, his head circumference is measuring in the 2nd percentile. She informed me that it could be a couple different things. It could be a sign of restricted growth, which again his weight was normal but hes still small, OR his head could have just been so far down in my pelvis already that they couldnt get a good measurement of it. I know that the weight checks with ultrasounds are not exact and can be off. I was also informed that when the head is measuring under the 2nd percentile, they now recommend induction between 39 weeks exact and 39 weeks and 6 days. So basically, baby will not be in there until my due date. I am hoping he decides to come early and we can avoid induction altogether because I've never been induced and really dont prefer to be induced. I have been saying i dont feel like hes going to stay in there until my due date anyways because im so uncomfortable and here lately, hes been pushing down. Has anyone been through anything similar and everything turned out fine? Im a nervous wreck over here because out of three pregnancies, this is the first time ive ever had any kind of concerning thing come up during pregnancy.