Epidural experiences

I'm 35 weeks and was pretty sure I was going to ask for an epidural straight away as I have a low pain threshold.

HOWEVER, the only people I know who had an epidural ended up having c-sections because they couldn't push.

As a result, I feel I am just delaying an inevitable c-section by choosing an epidural.

I don't want pain relief that passes through the placenta (e.g. Pethadin) but feel like gas and air/water birth/hypnobirthing won't be enough to really try at a vaginal birth.

What were your experiences of having an epidural?