K.I.
I know where you are coming from! I had an epidural when I was dilated at 10 with my first birth, which resulted in 3.5 hours of pushing and just narrowly escaped a C-section. The recovery was tough. With my second I wanted more choices. I too, loved my doctor and the hospital but felt that they really pushed medicated births at any cost. It felt like the moment I checked in, i became a patient and wasn't really in charge of my own birth experience. I really wanted to try and have a natural birth but was afraid I'd give in to the epidural in the heat of the moment. At the advice of friends, I hired a Doula and I can say without doubt, had she not been there I would have gotten an epidural for sure. I did it naturally and was SO PROUD of myself. All in all, it was just a better experience. The job of the nurses at the hospital is to make sure you are comfortable, so of course they want to push drugs on you while you are in pain. Not sure what area you live in, but if you want to contact me, I can email you some references. We paid $600 which seemed to be about the going rate, but I've heard you can get someone who is in training or with less experience and they might do it for less. I'll send you a private note with my email address.
Good Luck!